CN107877504A - Modular deceleration device and planar multiple-articulation robot - Google Patents
Modular deceleration device and planar multiple-articulation robot Download PDFInfo
- Publication number
- CN107877504A CN107877504A CN201711221558.2A CN201711221558A CN107877504A CN 107877504 A CN107877504 A CN 107877504A CN 201711221558 A CN201711221558 A CN 201711221558A CN 107877504 A CN107877504 A CN 107877504A
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- Prior art keywords
- deceleration device
- transmission component
- motor
- modular
- shaft
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- 230000005540 biological transmission Effects 0.000 claims abstract description 77
- 238000009434 installation Methods 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 210000000245 forearm Anatomy 0.000 description 26
- 230000005484 gravity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical field of automation, disclose modular deceleration device and planar multiple-articulation robot, wherein modular deceleration device, it is installed on any joint arm of planar multiple-articulation robot, the joint arm is provided with motor, the motor has rotating shaft, including output shaft, one or more transmission components and the multiple installation positions for being available for the transmission component or the motor to install being arranged on the joint arm；Each transmission component includes power transmission shaft and for the speed change gear with transmission component other described or the rotating shaft transmitting torque and plus/minus speed；Each transmission shaft end is equipped with the mounting seat for being available for output shaft installation fixed.Modular deceleration device in the present invention can select varying number, the transmission component of species is combined into different speed reducing ratio, finally provide a variety of rotating speed outputs, therefore have stronger product capability using the planar multiple-articulation robot of modular deceleration device.
Description
Technical field
The technical field of automation of the present invention, more particularly to the end slowing-down structure of planar multiple-articulation robot.
Background technology
Planar multiple-articulation robot (scara robots) is a kind of common robot structure, one in automatic field
As there is the base that is vertically arranged, multiple the first be hinged joint arms (generally two successively are installed on base：Directly
Large arm on base and the forearm installed in large arm end), each joint arm can be swung in the plane.Planar multiple-articulation
Actuating station is provided with robot final section joint arm, actuating station can vertically move, and realize space orientation, there is provided from
The multiple functions such as dynamic clamping, milling machine, 3D printing, operation.Planar multiple-articulation robot have structure is ripe, automaticity is high,
The features such as easy is controlled, the work that human hand carries out mechanization is more and more substituted in various fields.
Because the actuating station of planar multiple-articulation robot needs to provide horizontal torque for execution unit, in the prior art typically
At actuating station install motor, by reductor to motor output slow down after output torque, reductor as an integrated level compared with
High device, has the disadvantages that：(1) due to the generally longitudinal structure of reductor and motor needs certain longitudinal direction empty in itself
Between, cause the two mutually install after generally longitudinally size it is big, occupy larger space；(2) reductor is located at the end of mechanical arm
End, weight causes plane to cross the center of gravity biased outward of articulated robot compared with conference at this, adds overall static load；(3)
Reductor can only export fixed speed reducing ratio, there is provided a kind of output speed, can not change rotating speed；(4) reductor also has cost
It is high, be difficult to safeguard, the shortcomings of.These above-mentioned shortcomings so that using reductor as actuating station slowing-down structure, can finally influence
The product capability and cost performance of planar multiple-articulation robot.
The content of the invention
It is an object of the invention to provide modular deceleration device and planar multiple-articulation robot, it is intended to of the prior art
Planar multiple-articulation robot can only export the problem of fixed rotating speed.
The present invention is achieved in that modular deceleration device, is installed on any joint arm of planar multiple-articulation robot
On, the joint arm is provided with motor, and the motor has a rotating shaft, including output shaft, one or more transmission components and sets
The multiple installation positions for being available for the transmission component or the motor to install being placed on the joint arm；Each transmission component bag
Include power transmission shaft and for the speed change gear with transmission component other described or the rotating shaft transmitting torque and plus/minus speed；Each institute
State transmission shaft end and be equipped with the mounting seat for being available for output shaft installation fixed.
Further, it is detachable on each installation position to be provided with for fixing the transmission component or the motor
Fixation kit.
Further, the speed change gear includes being installed on one or more belt pulleys on the power transmission shaft, described turn
Axle is provided with driving wheel, and synchronization is correspondingly provided between multiple belt pulleys and between the driving wheel and the belt pulley
Band.
Further, multiple transmission components include the first transmission component and the second transmission component, first transmission
Component includes the first power transmission shaft and the first belt pulley and the second belt pulley that are installed on first power transmission shaft, and described second passes
Dynamic component includes second driving shaft and the 3rd belt pulley being installed on the second driving shaft.
Further, first belt pulley is connected to the driving wheel, second belt pulley by the timing belt
3rd belt pulley is connected to by the timing belt.
Further, first transmission component, the motor and second transmission component are placed in described small successively
Arm.
Further, the installation position is the cavity for being opened in the forearm upper end, and the cavity bottom offers through hole.
Further, the fixation kit includes being used for the fixed plate for being embedded in the cavity and for by the fixed plate
It is detachably secured to the fixture of the forearm.
Further, linearly arranged along the forearm, multiple installation positions.
Present invention also offers planar multiple-articulation robot, including above-mentioned modular deceleration device.
Further, in addition to housing outside the forearm is located in, the housing lower end corresponds to each mounting seat
Position offers the through hole for being available for output shaft to pass through.
Compared with prior art, the modular deceleration device in the present invention can select varying number, the transmission group of species
Part is combined into different speed reducing ratio, finally provides a variety of rotating speed outputs, therefore using the planar multiple-articulation of modular deceleration device
Robot has stronger product capability.
Brief description of the drawings
Fig. 1 is the forearm structure schematic diagram of midplane articulated robot of the embodiment of the present invention；
Fig. 2 is the structural representation of forearm in the embodiment of the present invention；
The mounting structure schematic diagram of Fig. 3 embodiment of the present invention motor, transmission component and forearm；
Fig. 4 and Fig. 5 is the motor and transmission component assembled scheme in other embodiments of the invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, it is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In the description of the invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
It is described in detail below in conjunction with realization of the specific accompanying drawing to the present embodiment, in the drawings, in lower section with arrow
The form of head identifies the bearing of trend of forearm, and arrow direction is the direction where actuating station in each figure.
As shown in Figure 1 to Figure 3, modular deceleration device is provided in the present embodiment, is specifically installed on planar multiple-articulation machine
At the actuating station of the forearm 1 of people, motor 11 and output shaft 15 are provided with forearm 1, motor 11 has the rotating shaft of output torque
111.It is understood that must be, although entitled modular deceleration device, actually in common sense in the field, reducing gear be not only only
Deceleration can be provided, also can realize the effect accelerated by changing the selection of gearratio.
Modular deceleration device includes output shaft 15, one or more transmission components and is arranged on multiple on forearm 1
Installation position 16, each installation position 16 are available for transmission component or motor 11 to install.
Each transmission component includes power transmission shaft and the speed change gear for transmitting torque and plus/minus speed, speed change gear are used for
Torque is transmitted between transmission component and between transmission component and the rotating shaft 111 of motor 11 and changes rotating speed.
The mounting seat 151 for being available for output shaft 15 to install fixation is equipped with each transmission shaft end and the end of rotating shaft 111.
Because forearm 1 is provided with multiple installation positions 16, therefore one or more transmission components can be selected to install during use
On forearm 1 in suitable installation position 16, motor 11 is installed in another suitable installation position 16 of simultaneous selection, then by becoming quick-mounting
Put motor 11 and the interconnection of each transmission component, realize one or more levels deceleration, output shaft 15 then is attached into certain refers to
Fixed power transmission shaft is corresponded in mounting seat 151, the suitable rotating speed of final output.One or more transmission components can combine to be formed respectively
Kind plus/minus speed ratio, therefrom selects and/or combines, you can realizes that various rotating speeds outputs require.
Therefore, the planar multiple-articulation robot of modular deceleration device in the present embodiment is employed, can be selected when in use
Select one or more transmission components and realize different rotating ratios, slowed down on forearm 1 for motor 11, using the teaching of the invention it is possible to provide no
Same rotating speed output.
In other examples, alternative other joint arms for being arranged on planar multiple-articulation robot 2 of deceleration device
On, the motor for correlation provides deceleration, such as in the large arm 3 of planar multiple-articulation robot 2, corresponding motor accordingly may be used
The motor swung for driving large arm 3, corresponding output shaft are the one end that be fixedly mounted on large arm 3；It is or corresponding
Motor is the motor for being used to drive forearm 1 to swing in large arm 3, and corresponding output shaft should be fixedly mounted on forearm 1
One end.
The realization of speed change gear can have a variety of, such as different gears be installed on each power transmission shaft, intermeshing is real
Existing torque transmission and plus/minus speed.Specifically, the speed change gear in the present embodiment includes the one or more being arranged on power transmission shaft
Belt pulley, is provided with driving wheel 112 in rotating shaft 111, corresponding peace between multiple belt pulleys and between driving wheel 112 and belt pulley
Equipped with timing belt 14.Need not coaxially it be pacified with motor 11 using timing belt 14 and belt pulley, the gear reduction system of driving wheel 112
Dress, will not only increase the space longitudinally occupied, and center of gravity is disperseed, compared with end is provided with the forearm of reductor, this
The center of gravity of forearm 1 in embodiment helps to reduce the quiet negative of entirety closer to the direction of base 21 of planar multiple-articulation robot 2
Carry.In addition, compared to integrated reductor, timing belt 14, which is driven also, has the advantages that use cost is low, easily safeguards.
Belt pulley and timing belt 14, which coordinate, can realize torque transmission, and the different diameter combination of multiple belt pulleys can be realized
Different speed reducing ratio.When needing to change output speed, the rotating speed calculating exported by the rotating speed and motor 11 that need to export turns
Fast ratio, select suitable dimension than belt pulley combination, its corresponding transmission component is attached on forearm 1, then corresponding
Timing belt 14 is put between belt pulley, between belt pulley and driving wheel 112, that is, completes installation process.
Preferably, installation position 16 is the cavity for being opened in the upper end of forearm 1, and through hole 161 is offered in the bottom of cavity.Work as biography
When dynamic model group is attached on installation position 16, its power transmission shaft can pass through through hole 161, when motor 11 is attached on installation position 16,
Its rotating shaft 111 can pass through through hole 161.
Detachable on each installation position 16 to be provided with fixation kit, fixation kit is used for fixed conveyor component or motor
11.Pass through the dismounting or installation between fixation kit and installation position 16, you can realize between transmission component or motor 11 and forearm 1
Dismounting.
In the present embodiment, fixation kit includes being used for the fixed plate 162 for being embedded in cavity and for can by fixed plate 162
Detachable is fixed on the fixture of forearm 1, such as bolt, buckle etc., and fixed plate 162 can be fixed on motor 11 or transmission group
On part.In other examples, fixation kit can also only include multiple fixtures, or use and be set in motor 11 or pass
The structures such as the sheath body on the outside of dynamic component are realized.
As shown in Fig. 2 multiple installation positions 16 in the present embodiment are linearly arranged along forearm 1, in other examples
It can not also be arranged along straight line.
The first transmission component 12 and the second transmission component 13 are specifically included in this implementation, the first transmission component 12 includes first
Power transmission shaft and the first belt pulley 121 and the second belt pulley 122 being installed on the first power transmission shaft, the second transmission component 13 include the
Two power transmission shafts 131 and the 3rd belt pulley 132 being installed on second driving shaft 131.Wherein the first belt pulley 121 passes through timing belt
14 are connected to driving wheel, and the second belt pulley 122 is connected to the 3rd belt pulley 132 by timing belt 14, and output shaft 15 is installed on
Mounting seat 151 on three belt pulleys 132.Because the diameter of driving wheel 112 is less than the first belt pulley 121, the diameter of the second belt pulley 122
Less than the 3rd belt pulley 132, the rotating speed that motor 11 exports exports by double reduction from output shaft 15.
First transmission component 12, the transmission component 13 of motor 11 and second are placed in forearm 1 successively so that modular, which slows down, to be filled
Put smaller in the space that the length direction of forearm 11 occupies.
As shown in figure 4, in other examples, can also be only with a transmission component 13a, motor 11 and transmission group
The adjacent installations of part 13a, only by once slowing down i.e. from the output torque of output shaft 15.
As shown in figure 5, in other examples, can also be only with a transmission component 13b, transmission component 13b
Belt pulley 132b with larger interior diameter, therefore can not be separated by with 11 adjacent installation of motor between motor 11 and transmission component 13b
One segment distance is installed.
Planar multiple-articulation robot 2 is additionally provided in the present embodiment, including multiple joint arms and above-mentioned modular slow down
Device.According to above it will be appreciated that, variety classes, quantity can be selected by employing the planar multiple-articulation robot 2 of modular deceleration device
Transmission component combination, there is provided the output of a variety of rotating speeds, therefore stronger product capability.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should be included in the scope of the protection.
Claims (10)
1. modular deceleration device, being installed on any joint arm of planar multiple-articulation robot, the joint arm is provided with electricity
Machine, the motor have rotating shaft, it is characterised in that including output shaft, one or more transmission components and are arranged at the pass
Multiple installation positions for being available for the transmission component or the motor to install in joint arm；
Each transmission component include power transmission shaft and for transmission component other described or the rotating shaft transmitting torque and add/
The speed change gear of deceleration；
Each transmission shaft end is equipped with the mounting seat for being available for the output shaft installation fixed.
2. modular deceleration device as claimed in claim 1, it is characterised in that detachable on each installation position to be provided with
For fixing the fixation kit of the transmission component or the motor.
3. modular deceleration device as claimed in claim 2, it is characterised in that the speed change gear includes being installed on the biography
One or more belt pulleys on moving axis, the rotating shaft are provided with driving wheel, between multiple belt pulleys and the active
Timing belt is correspondingly installed between wheel and the belt pulley.
4. modular deceleration device as claimed in claim 3, it is characterised in that multiple transmission components include the first transmission
Component and the second transmission component, first transmission component include the first power transmission shaft and be installed on first power transmission shaft the
One belt pulley and the second belt pulley, second transmission component include second driving shaft and are installed on the second driving shaft
3rd belt pulley.
5. modular deceleration device as claimed in claim 4, it is characterised in that first belt pulley passes through the timing belt
The driving wheel is connected to, second belt pulley is connected to the 3rd belt pulley by the timing belt.
6. modular deceleration device as claimed in claim 4, it is characterised in that first transmission component, the motor and
Second transmission component is placed in the joint arm successively.
7. the modular deceleration device as described in any one of claim 2 to 6, it is characterised in that the installation position is to be opened in
The cavity of the joint arm upper end, the cavity bottom offer through hole.
8. modular deceleration device as claimed in claim 7, it is characterised in that the fixation kit includes being used for described in insertion
The fixed plate of cavity and the fixture for the fixed plate to be detachably secured to the joint arm.
9. the modular deceleration device as described in any one of claim 1 to 6, it is characterised in that along the joint arm, Duo Gesuo
Installation position is stated linearly to arrange.
10. planar multiple-articulation robot, including multiple joint arms, it is characterised in that also including any one of claim 1 to 9 institute
The modular deceleration device stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711221558.2A CN107877504B (en) | 2017-11-22 | 2017-11-22 | Modular speed reducer and planar multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711221558.2A CN107877504B (en) | 2017-11-22 | 2017-11-22 | Modular speed reducer and planar multi-joint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107877504A true CN107877504A (en) | 2018-04-06 |
| CN107877504B CN107877504B (en) | 2024-05-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711221558.2A Active CN107877504B (en) | 2017-11-22 | 2017-11-22 | Modular speed reducer and planar multi-joint robot |
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| DE202004012584U1 (en) * | 2004-08-10 | 2005-01-05 | Zf Friedrichshafen Ag | A robotic arm for instructional purposes has an exposed assembly including additional linked arms driven by toothed belts in several degrees of freedom |
| CN101258001A (en) * | 2005-07-11 | 2008-09-03 | 布鲁克斯自动化公司 | Substrate transport apparatus |
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| CN107044513A (en) * | 2017-04-14 | 2017-08-15 | 高雅 | A kind of motor multistep speed regulation transmission mechanism for fruit picking robot |
| CN107097208A (en) * | 2016-02-19 | 2017-08-29 | 康茂股份公司 | Multi-axis industrial robot |
| CN207548757U (en) * | 2017-11-22 | 2018-06-29 | 深圳市越疆科技有限公司 | Modular deceleration device and planar multiple-articulation robot |
-
2017
- 2017-11-22 CN CN201711221558.2A patent/CN107877504B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1474074A (en) * | 2002-05-02 | 2004-02-11 | 阿文美驰技术有限责任公司 | Gearbox combination with multiple gear mounting position |
| KR20040015537A (en) * | 2002-08-13 | 2004-02-19 | 삼성전자주식회사 | Multi-articulated robot |
| DE202004012584U1 (en) * | 2004-08-10 | 2005-01-05 | Zf Friedrichshafen Ag | A robotic arm for instructional purposes has an exposed assembly including additional linked arms driven by toothed belts in several degrees of freedom |
| CN101258001A (en) * | 2005-07-11 | 2008-09-03 | 布鲁克斯自动化公司 | Substrate transport apparatus |
| CN104385260A (en) * | 2014-11-21 | 2015-03-04 | 华南理工大学 | Novel four-degree-of-freedom articulated robot structure |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107877504B (en) | 2024-05-28 |
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