CN205734925U - A kind of mechanical arm adjusting means - Google Patents
A kind of mechanical arm adjusting means Download PDFInfo
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- CN205734925U CN205734925U CN201620634396.XU CN201620634396U CN205734925U CN 205734925 U CN205734925 U CN 205734925U CN 201620634396 U CN201620634396 U CN 201620634396U CN 205734925 U CN205734925 U CN 205734925U
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- axle
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- synchronous pulleys
- input shafts
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Abstract
The utility model discloses a kind of mechanical arm adjusting means, including four armshaft shells, the internal one end of described four armshaft shells is provided with input, and the internal other end is provided with outfan；Described input is provided with six through-drive axles and five through-drive axles, is fixed with six axle synchronous pulleys on six through-drive axles, is fixed with five axle synchronous pulleys on five through-drive axles；Described outfan is provided with six axle reducer input shafts and five axle reducer input shafts, is fixed with six axle decelerator input synchronous pulleys on six axle reducer input shafts, is fixed with five axle decelerator input synchronous pulleys on five axle reducer input shafts；Described six axle decelerator input synchronous pulleys are connected to six axle synchronous pulleys by six axle Timing Belts, and described five axle decelerator input synchronous pulleys are connected to five axle synchronous pulleys by five axle Timing Belts.This utility model is installed simple, adjusts easily, can be adjusted the degree of tightness of Timing Belt by belt tension device, it is possible to be adjusted by the diameter adjusting commutation transition wheel.
Description
Technical field
This utility model relates to six axis robot arm field, is specifically related to a kind of mechanical arm adjusting means.
Background technology
Mechanical arm is a kind of to be automatically performed object (such as material, workpiece, part or work by set program or requirement
Tool etc.) transmit or operate the machinery of operation, it can partly replace the manual labour of people.The mechanical hand of higher form can also
The arm action of simulation people, completes more complicated operation.Mechanical arm is widely used in semiconductor manufacturing, industry, medical treatment, army
The field such as thing and space probation.Six shaft mechanical arms are Typical Representative therein.
The transmission of five, six axles of industry six axle articulated robots, major part uses servo motor output shaft defeated with decelerator
Enter the parallel mounting means of axle.Though this scheme is simple, but its four, five relevant axis bodies amass excessive (because of servomotor and cable
All arm intracavity at four, five axles are installed and pass through), the shortcoming thus brought is: 1) because installing motor and encoder, four or five axles
Volume is relatively big, and the actual application for robot has more restriction；2) it is arranged on the arm intracavity of four or five axles, then its line because of motor
Cable also can be walked in its associated component, in order to avoid winding and the damage of cable, it has to reduces the range of movement of four or five axles；
3) because the installation site of motor and encoder is at four or five armshaft intracavity, close to end so that it is the utilization industry of whole robot
Be restricted (such as high temperature, high humidity, the industry of high dirt, motor encoder and cable are the most easily damaged, and replacement cost is high).
Also the driving-chain having partial robotic five, six axle is motor to be moved on to three thes tip of the axis (backmost) pass through transmission
Axle, spiral bevel gear transmission are by five, six shaft ends of power transmission to machine, and the break-in in its transmission is then by spiral bevel gear
Transmission realizes.But this mode also has a deficiency: 1) carried out ensureing transmission effect by the accuracy of manufacture of spiral bevel gear,
Manufacturing cost is higher；2) during adjusting gap, made precision by each another part and quality is affected and the skill of equipment adjustment personnel
The factor impact of the height of art level is relatively big, and quality is unstable and difficulty is relatively big, and efficiency is low；3) owing to being gear drive, noise
Greatly, noise the most then vibration can strengthen, and affects the precision of robot end；4) designing and producing difficulty big, auxiliary component is many, cost
High.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of mechanical arm adjusting means, to solve machine driving
During break-in transmission problem, in break-in transmission process, the generation in gap and the impact of assembling quality, cause precision to reduce
Problem big with noise and produce and equipment adjustment during quality and Cost Problems.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
A kind of mechanical arm adjusting means, including four armshaft shells, the internal one end of described four armshaft shells is provided with input, internal
The other end is provided with outfan；Described input is provided with six through-drive axles and five through-drive axles, is fixed with six on six through-drive axles
Axle synchronous pulley, is fixed with five axle synchronous pulleys on five through-drive axles；Described outfan be provided with six axle reducer input shafts and
Five axle reducer input shafts, are fixed with six axle decelerator input synchronous pulleys on six axle reducer input shafts, slow down at five axles
Five axle decelerator input synchronous pulleys it are fixed with on device power shaft；Described six axle decelerator input synchronous pulleys are synchronized by six axles
Band is connected to six axle synchronous pulleys, and described five axle decelerator input synchronous pulleys are connected to five axle Timing Belts by five axle Timing Belts
Wheel；Being further fixed on six axle commutation transition wheels and five axles commutation transition wheel in described four armshaft shells, described six axle commutation transition wheels are tight
Pasting in the middle part of six axle Timing Belts, commutate for transmission, described five axle commutation transition wheels are close to, in the middle part of five axle Timing Belts, change for transmission
To.
Further, described six through-drive axles and five through-drive axles are coaxially disposed, and six through-drive axles are through five through-drive
Inside axle, described five axle reducer input shafts and six axle reducer input shafts are coaxially disposed, and five axle reducer input shafts pass
Inside six axle reducer input shafts.
Further, described six axle Timing Belts and six axle synchronous pulleys, the connected mode of six axle reducer input shafts, and
The connected mode of five axle Timing Belts and five axle synchronous pulleys, five axle decelerator input synchronous pulleys is all flute profile engagement.
Compared with prior art, the beneficial effects of the utility model are:
1) because of the soft materials of Timing Belt, transmission can be carried out by reversing and turning back.
2) Timing Belt is that flute profile engagement system carries out transmission, will not produce and lose tooth and sliding phenomenon, therefore in transmission process
Its transmission accuracy can be completely secured.
3) it is soft materials because of Timing Belt, high-speed drive can significantly and effectively reduce noise and vibration, and improve machine
Device robot end stability and precision.
4) install simply, adjust easily, by belt tension device, the degree of tightness of Timing Belt can be adjusted, it is possible to by adjusting
The diameter of whole commutation transition wheel is adjusted.
5) because of the use link of Timing Belt be decelerator input leading portion (i.e. motor shaft deferent segment) only be by commutate transmission
Enforcement, therefore its torque and stretching resistance are the least, and robot runs the active force in (use) mainly in the output of decelerator
End, so its bearing capacity can meet Production requirement for a long time.
Accompanying drawing explanation
Fig. 1 is this utility model one mechanical arm adjusting means structural representation.
In figure: 1-outfan；2-five axle reducer input shaft；3-six axle reducer input shaft；4-six axle decelerator inputs
Synchronous pulley；5-five axle decelerator input synchronous pulley；6-five axle Timing Belt；7-six axle Timing Belt；8-five axle commutation transition wheel；
9-six axle commutation transition wheel；10-five axle synchronous pulley；11-input；12-six through-drive axle；13-five through-drive axle；14-tetra-
Armshaft shell；15-six axle synchronous pulley.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.This utility model carries
A kind of mechanical arm adjusting means of confession, moves to three shaft ends motor, by power transmission shaft and Timing Belt and belt wheel commutation transition
The mode of wheel is by five, six shaft ends of power transmission to robot.Arranged by this kind, it is ensured that transmission accuracy, decrease peace
Debug auxiliary component quantity and the difficulty haveing suffered journey, design and produce simple precision and easily ensure, meanwhile, be also reduced or eliminated noise and
Vibration, whole device volume is little, light weight.
This utility model apparatus structure is: include that four armshaft shells 14, the internal one end of described four armshaft shells 14 are provided with input
11, the internal other end is provided with outfan 1；Described input 11 is provided with six through-drive axle 12 and five through-drive axles 13, passes at six axles
It is fixed with six axle synchronous pulleys 15 on moving axis 12, five through-drive axles 13 are fixed with five axle synchronous pulleys 10；Described outfan 1
It is provided with six axle reducer input shaft 3 and five axle reducer input shafts 2, six axle reducer input shafts 3 is fixed with six axles and slows down
Device input synchronous pulley 4, is fixed with five axle decelerator input synchronous pulleys 5 on five axle reducer input shafts 2；Described six axles subtract
Speed device input synchronous pulley 4 is connected to six axle synchronous pulleys 15, described five axle decelerator input Timing Belts by six axle Timing Belts 7
Wheel 5 is connected to five axle synchronous pulleys 10 by five axle Timing Belts 6；Six axle commutation transition wheels it are further fixed in described four armshaft shells 14
9 and five axle commutation transition wheel 8, described six axles commutation transition wheels 9 be close in the middle part of six axle Timing Belts 7, for transmission commutate, described five
Axle commutation transition wheel 8 is close in the middle part of five axle Timing Belts 6, commutates for transmission.
Timing Belt has the advantage that 1) accurate without slippage (i.e. sliding phenomenon) gear ratio, gear ratio is big；2) transmission power
Greatly, from several watts to hundred kilowatts；3) transmission efficiency is high up to 98%, suitable spinning transmission, it is not necessary to lubrication, pollution-free；4) structure is tight
Gathering, stable drive, noise is little.
Described six through-drive axles 12 are coaxially disposed with five through-drive axles 13, and six through-drive axles 12 are through five through-drive axles 13
Inside, described five axle reducer input shafts 2 are coaxially disposed with six axle reducer input shafts 3, and five axle reducer input shafts 2 pass
Six axle reducer input shafts 3 are internal.
Described six axle Timing Belt 7 and the connected modes of six axle synchronous pulley 15, six axle reducer input shafts 3, and five axles
Timing Belt 6 is all that flute profile engages with the connected mode of five axle synchronous pulley 10, five axle decelerator input synchronous pulleys 5.
Generally speaking, the five of this utility model device, power is transmitted to four armshaft shells 14 by six spindle motors by power transmission shaft
In, its power transmission shaft end is installed the synchronous pulley of five, six axles and is fixed, and five, six axle Timing Belts enter respectively with synchronous pulley
Row engagement is also drawn, and carries out being folded to the same belt wheel of five, six axle decelerator inputs and it by Timing Belt commutation transition wheel
Engagement, reaches break-in transmission purpose.
Claims (3)
1. a mechanical arm adjusting means, it is characterised in that include four armshaft shells (14), described four armshaft shells (14) internal
End is provided with input (11), and the internal other end is provided with outfan (1)；Described input (11) is provided with six through-drive axles (12) and five
Through-drive axle (13), is fixed with six axle synchronous pulleys (15) on six through-drive axles (12), upper fixing at five through-drive axles (13)
There are five axle synchronous pulleys (10)；Described outfan (1) is provided with six axle reducer input shafts (3) and five axle reducer input shafts (2),
Six axle reducer input shafts (3) are fixed with six axle decelerators input synchronous pulley (4), at five axle reducer input shafts (2)
On be fixed with five axle decelerators input synchronous pulley (5)；Described six axle decelerators input synchronous pulley (4) are by six axle Timing Belts
(7) being connected to six axle synchronous pulleys (15), described five axle decelerators input synchronous pulley (5) are connected by five axle Timing Belts (6)
To five axle synchronous pulleys (10)；Six axles commutation transition wheel (9) and the commutation transition of five axles it is further fixed in described four armshaft shells (14)
Wheel (8), described six axles commutation transition wheel (9) are close in the middle part of six axle Timing Belts (7), and for transmission commutation, described five axles commutated
Five axle Timing Belt (6) middle parts are close to by ferry boat (8), commutate for transmission.
2. a kind of mechanical arm adjusting means as claimed in claim 1, it is characterised in that described six through-drive axles (12) and five
Through-drive axle (13) is coaxially disposed, and six through-drive axles (12) are internal through five through-drive axles (13), and described five axle decelerators are defeated
Enter axle (2) to be coaxially disposed with six axle reducer input shafts (3), and five axle reducer input shafts (2) are through six axle decelerator inputs
Axle (3) is internal.
3. mechanical arm adjusting means as claimed in claim 1 or 2 a kind of, it is characterised in that described six axle Timing Belts (7) with
Six axle synchronous pulleys (15), the connected mode of six axle reducer input shafts (3), and five axle Timing Belts (6) and five axle Timing Belts
Wheel (10), the connected mode of five axle decelerators input synchronous pulley (5) are all flute profile engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620634396.XU CN205734925U (en) | 2016-06-23 | 2016-06-23 | A kind of mechanical arm adjusting means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620634396.XU CN205734925U (en) | 2016-06-23 | 2016-06-23 | A kind of mechanical arm adjusting means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734925U true CN205734925U (en) | 2016-11-30 |
Family
ID=57384319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620634396.XU Active CN205734925U (en) | 2016-06-23 | 2016-06-23 | A kind of mechanical arm adjusting means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734925U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954110A (en) * | 2021-10-21 | 2022-01-21 | 常州机电职业技术学院 | Robot wrist of synchronous belt switching-over |
-
2016
- 2016-06-23 CN CN201620634396.XU patent/CN205734925U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954110A (en) * | 2021-10-21 | 2022-01-21 | 常州机电职业技术学院 | Robot wrist of synchronous belt switching-over |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210923 Address after: 610000 group 9, shibati village, Jiajia Town, Jianyang City, Chengdu City, Sichuan Province Patentee after: SICHUAN RUIZHIHE INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 610100 No. 205 Tiansheng Road, Longquanyi District, Chengdu, Sichuan Patentee before: Chen Jinxin |