CN208215393U - Using the joint of robot of three-level synchronous belt retarder - Google Patents
Using the joint of robot of three-level synchronous belt retarder Download PDFInfo
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- CN208215393U CN208215393U CN201820481527.4U CN201820481527U CN208215393U CN 208215393 U CN208215393 U CN 208215393U CN 201820481527 U CN201820481527 U CN 201820481527U CN 208215393 U CN208215393 U CN 208215393U
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Abstract
The utility model provides a kind of joint of robot using three-level synchronous belt retarder, joint of robot includes that machine shaft and output revolving shaft between the first mounting plate and the second mounting plate and parallel to each other is arranged in, drive the motor of machine shaft rotation, the first gear for following machine shaft to rotate synchronously, it is spindle rotationally arranged on output revolving shaft, the second synchronous pulley for passing through synchronous band connection with first gear, it is spindle rotationally arranged on output revolving shaft, with the third synchronous pulley of the second synchronous pulley unitary design, it is spindle rotationally arranged on machine shaft, the 4th gear for passing through synchronous band connection with third synchronous pulley, it is spindle rotationally arranged on machine shaft, with the 5th gear of the 4th gear unitary design, and it is fixed on output revolving shaft, the 6th gear for passing through synchronous band connection with the 5th gear.The utility model, which is realized by synchronous belt come band movable belt pulley, to slow down, and manufacturing cost is low, and running noises are small, and compact-sized small volume.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of robots using three-level synchronous belt retarder
Joint.
Background technique
With the progress of society and economic development, robot has been widely used in all trades and professions, is especially applied
In industry, robot can automatic assembling, spray painting, carrying, welding etc., manual operation is replaced by robot, improves work
Efficiency and precision.Robot is generally by executing agency, driving device, detection device and control system and complicated machinery etc.
Composition, kinematic pair therein are frequently referred to joint, and joint number is usually the number of degrees of freedom, of robot, the robot of the prior art
Joint mostly uses greatly harmonic wave speed reducing machine, and not only cost is very high, but also running noises are bigger.
Therefore, the existing technology needs to be improved and developed.
Utility model content
In view of the deficiencies in the prior art, the utility model aim is to provide a kind of machine using three-level synchronous belt retarder
Device person joint, it is intended to solve joint of robot in the prior art and use harmonic wave speed reducing machine, manufacture successfully this height, running noises are greatly
Problem.
In order to solve the above technical problems, the technical solution adopted in the utility model is as follows:
A kind of joint of robot using three-level synchronous belt retarder, comprising:
The first mounting plate and the second mounting plate being oppositely arranged in parallel；
Both ends are rotatably connected the machine shaft on first mounting plate and the second mounting plate respectively；
Both ends are rotatably connected on first mounting plate and the second mounting plate and parallel with the machine shaft respectively
The output revolving shaft of setting；
The motor that described machine shaft one end is set and is fixed on first mounting plate；
The movable end side for being set to the motor, the first synchronous pulley rotated synchronously with the machine shaft；
It is rotatably set on the output revolving shaft, passes through the second same of synchronous band connection with first synchronous pulley
Walk belt wheel；
It is rotatably set on the output revolving shaft and is located at installing far from described first for second synchronous pulley
The side of plate, the third synchronous pulley rotated synchronously with second synchronous pulley；
The 4th synchronous belt for being rotatably set on machine shaft, passing through synchronous band connection with the third synchronous pulley
Wheel；
It is rotatably set on the machine shaft and is located at installing far from described first for the 4th synchronous pulley
The side of plate, the 5th synchronous pulley rotated synchronously with the 4th synchronous pulley；And
It is fixed on the output revolving shaft and passes through synchronous band connection, described defeated for driving with the 5th synchronous pulley
The 6th synchronous pulley that shaft rotates synchronously out；
The diameter of second synchronous pulley be greater than first synchronous pulley diameter, the 4th synchronous pulley it is straight
Diameter is greater than the diameter of the third synchronous pulley, and the diameter of the 6th synchronous pulley is greater than the straight of the 5th synchronous pulley
Diameter；
One end that the output revolving shaft is connect with first mounting plate is connected with and output revolving shaft synchronous rotation
Output rotary encoder；
One end that the machine shaft is provided with motor is connected with the motor rotary encoder with the motor synchronous rotary.
Further, the both ends or in which one end of the output revolving shaft are provided with output flange.
Further, electromagnetic brake is provided on the motor.
Further, the motor is arranged on first mounting plate far from second mounting plate side.
Further, through-hole is used to connection communication and power supply line among the output revolving shaft.
Further, the interval width between second synchronous pulley and the 6th synchronous pulley is not less than described the
The width of four synchronous pulleys, the 4th synchronous pulley part be located at second synchronous pulley and the 6th synchronous pulley it
Between.
The utility model by adopting the above technical scheme, at least has following the utility model has the advantages that real by synchronous belt band movable belt pulley
Now slow down, manufacturing cost is low, and running noises are small；Rotary encoder can be set on output revolving shaft, and whether detection output revolving shaft turns
In place, and according to the control errors motor of rotation it continues to rotate, so that output revolving shaft is gone to the position of needs, solve synchronous belt
The problem of deceleration positioning accuracy difference；Three-level deceleration is carried out provided with three groups of synchronous belts, fully achieves deceleration demand；Belt wheel is
Gear, synchronous belt inside are also provided with the serrated face being adapted to the gear teeth of gear accordingly, can increase between synchronous belt and gear
Frictional force, avoid synchronous belt from skidding；Entire joint of robot is arranged to a mould group, the fixation of the components such as motor do not need according to
Robot arm or shell are invested, is easily installed and dismantles；Structure is compact to design, and the 4th synchronous pulley can be located at the second synchronous belt
In the gap of wheel and the 6th synchronous pulley, the volume of entire joint of robot is reduced, while three-level is set and is slowed down relative to only
Primary speed-down, which is arranged, can greatly reduce the length of every synchronous belt, and then reduce the length of joint of robot；It can also be set on motor
Electromagnetic brake is set, joint of robot can be prevented out of control by locking motor in unexpected situations.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Embodiment and its explanation please is not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram that the utility model joint of robot is fitted without synchronous belt.
Fig. 2 is the structural schematic diagram that the utility model joint of robot is mounted with synchronous belt.
Fig. 3 is the schematic diagram of the section structure of joint of robot in Fig. 2.
Fig. 4 is the structural schematic diagram that the utility model joint of robot is mounted with backplate.
Fig. 5 is the schematic diagram of the section structure of another embodiment of the utility model joint of robot.
Specific embodiment
Presently filed embodiment is described in detail below in conjunction with accompanying drawings and embodiments, how the application is applied whereby
Technological means solves technical problem and reaches the realization process of technical effect to fully understand and implement.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combine.
In the description of the present invention, it should be understood that the orientation or position of the instructions such as term " on ", "lower", "inner"
Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It should not be understood as limiting the present invention.
Such as background technique introduction, the joint of robot of the prior art mostly uses greatly harmonic wave speed reducing machine, and not only cost is very high, and
And running noises are bigger, slow down by synchronous belt with movable belt pulley individually although having, it is to use one group of band
Wheel slows down, i.e., motor drives a belt wheel rotation, and belt wheel drives another belt wheel being relatively large in diameter to rotate by synchronous belt, and realization subtracts
Speed, but such scheme, will reach defined deceleration demand, then the distance between two belt wheels needs are sufficiently large, also
It is that the length of synchronous belt needs to grow very much, so that joint of robot is sufficiently bulky, and its motor and each belt wheel are all zero
Scattered is fixed on the arm or shell of robot, is not a mould for being easily installed and dismantling by entire joint designs
Group.
As shown in figure 3, the utility model carries out three-level deceleration by three groups of belt wheels, the requirement of deceleration not only can achieve, but also
It can reduce the length of every synchronous belt, i.e. the distance between reduction belt wheel, reduce the volume of joint of robot, and by same
Step band band movable belt pulley, which is realized, to slow down, relative to expensive speed reducer, such as harmonic wave speed reducing machine, can obviously reduce manufacture at
This, reduces running noises.
Specifically, the utility model joint of robot include the first mounting plate 11, the second mounting plate 12, machine shaft 21,
Output revolving shaft 22, motor 30, the first synchronous pulley 41, the second synchronous pulley 42, third synchronous pulley 43, the 4th synchronous pulley
44, the 5th synchronous pulley 45, the 6th synchronous pulley 46, the first synchronous belt 51, the second synchronous belt 52 and third synchronous belt 53, the
The main support of one mounting plate 11 and the second mounting plate 12 as entire joint, the two is opposite and is disposed in parallel relation to one another, and motor turns
The both ends of axis 21 and output revolving shaft 22 are all separately positioned on the first mounting plate 11 and the second mounting plate 12, and machine shaft 21 and defeated
Shaft 22 is to be rotatably connected, such as axis is arranged between shaft and mounting plate with the first mounting plate 11 and the second mounting plate 12 out
It holds, makes shaft that can turn to be freely rotated on mounting plate.First mounting plate 11, the second mounting plate 12, machine shaft 21 and output revolving shaft
The 22 integrated support skeleton as joint of robot, motor 30, the first synchronous pulley 41, the second synchronous pulley 42, third are synchronous
Belt wheel 43, the 4th synchronous pulley 44, the 5th synchronous pulley 45 and the 6th synchronous pulley 46 are set in machine shaft 21 or output
In shaft 22, natural, machine shaft 21 and output revolving shaft 22 are arranged in parallel, and such the utility model joint of robot is just
It can be assembled into a mould group, directly joint of robot is installed in robot, without by each component in entire joint
Scattered is installed in robot, realizes quick-mounting speed and tears open.
Motor 30 can be outer rotor servo motor, and one end of machine shaft 21 is arranged in motor 30, specifically, may be provided at
One end of close first mounting plate 11 on machine shaft 21, and the fixing end (one end for being not provided with rotor) of motor 30
It is fixedly connected with the first mounting plate 11, to realize the installation and positioning of motor 30, since the fixing end of motor 30 is fixed on first
On mounting plate 11, then it will be apparent that motor 30 is provided with one end (i.e. the movable end of motor 30) of rotor towards
Two mounting plates 12.
The movable end side of motor 30 is provided with the first synchronous pulley 41, the first synchronous belt against the position at motor activity end
Wheel 41 is fixedly connected on machine shaft 21, that is to say, that the first synchronous pulley 41 is rotated synchronously with motor 30, realizes motor 30
Output, rotate synchronously and rotation angular speed it is identical.
Position corresponding with the first synchronous pulley 41 on output revolving shaft 22 is provided with the second synchronous pulley 42, and second is synchronous
Belt wheel 42 is connect with the first synchronous pulley 41 by the first synchronous belt 51, and the rotation of the first synchronous pulley 41 is transmitted to second
On synchronous pulley 41.
Since the second synchronous pulley 42 is not the final output in entire joint, so the second synchronous pulley 42 is to can be rotated
Be connected on output revolving shaft 22, by output revolving shaft 22 as supporting, as the mode rotatably connected, bearing may be selected
Connection, is provided with first bearing 61 between the second synchronous pulley 42 and output revolving shaft 22, so that the second synchronous pulley 42 can turn
It is dynamic to be connected on output revolving shaft 22.
Second synchronous pulley 42 is the deceleration as the first order, so the diameter of the second synchronous pulley 42 is greater than first
Synchronous pulley 41, after realizing that rotation is passed to the second synchronous pulley 42 by the first synchronous belt 51 by the first synchronous pulley 41,
The first synchronous pulley of rotating ratio 41 of second synchronous pulley 42 is slow, that is, realizes and slow down.The principle of deceleration is the first synchronous pulley 41
It is connect with the second synchronous pulley 42 by the first synchronous belt 51, then the linear speed of the first synchronous pulley 41 and the second synchronous pulley 42
Degree be it is identical, the diameter of the second synchronous pulley 42 is arranged bigger than the first synchronous pulley 41, then the second synchronous pulley 42
Revolving speed it is just slower than the first synchronous pulley 41.
Second synchronous pulley 42 is provided with third synchronous pulley 43, third synchronous pulley far from the side of the first mounting plate 11
43 and second synchronous pulley 42 rotate synchronously, and the diameter of third synchronous pulley 43 is less than the diameter of the second synchronous pulley 42, this
Sample passes through the 4th synchronous pulley 44 that third synchronous pulley 43 drives a diameter bigger than third synchronous pulley 43 again, and realizes
The deceleration of the second level.Third synchronous pulley 43 needs that the second synchronous pulley 42 is followed to rotate around output revolving shaft 22 together, so the
It is provided with second bearing 62 between three synchronous pulleys 43 and output revolving shaft 22, so that third synchronous pulley 43 is rotatably connected defeated
Out in shaft.
Since third synchronous pulley 43 will be rotated synchronously with the second synchronous pulley 42, so third synchronous pulley 43 and second
Belt wheel 42 is combination synchronous pulley.Such as it is preferred, third synchronous pulley 43 and the second synchronous pulley 42 design for integral type, the
Three synchronous pulleys 43 can be integrally formed with the second synchronous pulley 42, third synchronous pulley 43 can also be fixed on the second synchronous pulley
42, such as fixed by screw, or setting card slot is clamped, this is not restricted.Third synchronous pulley 43 and the second synchronous belt
The design for taking turns 42 integral types makes more compact structure, can reduce the volume of entire joint of robot.
Position corresponding with third synchronous pulley 43 is arranged on machine shaft 21 in 4th synchronous pulley 44, as mentioned before
The diameter of 4th synchronous pulley 44 is greater than the diameter of third synchronous pulley 43, and to achieve the purpose that deceleration, deceleration herein is the
Double reduction.4th synchronous pulley 44 is connect with third synchronous pulley 43 by the second synchronous belt 52.Due to the 4th synchronous pulley
44 are arranged on machine shaft 21, and using machine shaft 21 as supporting, but the 4th synchronous pulley 44 is with machine shaft 21 and not
It is to rotate synchronously, so 3rd bearing 63 is provided between the 4th synchronous pulley 44 and machine shaft 21, so that the 4th synchronous belt
Wheel 44 is rotatably connected on machine shaft 21.
5th synchronous pulley 45 is set to the side far from the first mounting plate 11 of the 4th synchronous pulley 44, the 5th synchronous belt
Wheel 45 is spindle rotationally arranged on machine shaft 21, specifically, the is arranged between the 5th synchronous pulley 45 and machine shaft 21
Four bearings 64.Connection relationship between 5th synchronous pulley 45 and the 4th synchronous pulley 44, with third synchronous pulley 43 and second
Connection relationship between synchronous pulley 42 is similar, and by the 5th synchronous pulley 45 and 44 unitary design of the 4th synchronous pulley,
And the diameter of the 5th synchronous pulley 45 is arranged smaller than the diameter of the 4th synchronous pulley 44, it is no longer repeated herein.
6th synchronous pulley 46 is final output pulley, and the 6th synchronous pulley 46 and the 5th synchronous pulley 45 pass through third
Synchronous belt 53 connects, and the diameter of the 6th synchronous pulley 46 is bigger than the 5th synchronous pulley 45, such 6th synchronous pulley 46 and
The group of 5th synchronous pulley 45 is combined into third level deceleration.
6th synchronous pulley 46 rotates synchronously, i.e. the 6th synchronous pulley as final output pulley with output revolving shaft 22
46 need to be fixedly connected with output revolving shaft 22, and specific fixed form, optional screw is fixed, and spline connection also may be selected.Institute
Spline connection is called, i.e., card key is set in 22 outer surface of output revolving shaft, card slot is set on the 6th synchronous pulley 46, card key is sticked into
In card slot, the 6th synchronous pulley 46 can be realized, output revolving shaft 22 is driven to rotate synchronously.
In order to the rotation of output revolving shaft 22 to be output in robot, need that output flange is arranged on output revolving shaft 22,
Output flange may be provided at one end of output revolving shaft 22, can also all be arranged at the both ends of output revolving shaft 22, specifically can be according to machine
The link position of person joint and robot is arranged, if such as the joint of robot only need to be by one end of output revolving shaft 22 and machine
Device people connects and exports, then output flange, if both ends require to connect and export, both ends are then only arranged at one end
Output flange is all set.
If Fig. 3 is that both ends are all arranged output flange, one end that output revolving shaft 22 is connect with the first mounting plate 11 is provided with the
One output flange 71, the first output flange 71 can be connect with the connection type of output revolving shaft 22 for screw, or spline connects
It connects.It is provided with 5th bearing 65 between first output flange 71 and the first mounting plate 11, to support the first output flange 71
On the first mounting plate 11, and it can be rotated around the first mounting plate 11.It is understood that being provided with peace on the first output flange 71
It fills hole 711 and the rotation after deceleration is output to machine to connect the first output flange 71 with the rotatable parts in robot
On people.
In shown in Fig. 3, second output flange 72 and the 6th tooth of one end that output revolving shaft 22 is connect with the second mounting plate 12
Wheel 46 is integrally formed, in this way can be by the entirety and output revolving shaft of the second integral output flange 72 and the 6th gear 46 of design
22 connections, it is not necessary that the second output flange 72 and the 6th gear 46 to be connect with output revolving shaft 22 respectively.Second output flange
6th bearing 66 is provided between 72 and output revolving shaft 22, so that the second output flange 72 and the 6th gear 46 turn around output together
Axis 22 rotates.
It is understood that since motor bearings 21 needs to rotate, so motor bearings 21 and the first mounting plate 11 and
Bearing is also equipped between two mounting plates 12.Specifically, being provided with 7th bearing between motor bearings 21 and the first mounting plate 11
67,8th bearing 68 between motor bearings 21 and the second mounting plate 12.
The diameter of third synchronous pulley 43 as mentioned before is less than the second synchronous pulley 42, and as ratio wheel, the 6th
Diameter of the diameter of synchronous pulley 46 preferably also than third synchronous pulley 43 is big, then due to third synchronous pulley 43 and
The corresponding setting of four synchronous pulley 44, and will form certain gap between the second synchronous pulley 42 and the 6th synchronous pulley 46,
The width in gap is approximately equal to the width of third synchronous pulley 43, in this way can protrude into the 4th synchronous pulley in gap, i.e., the 4th is same
44 part of belt wheel is walked between the second synchronous pulley 42 and the 6th synchronous pulley 46, makes the joint of robot knot of the utility model
Structure is more compact, has further reduced the volume in entire joint.It is synchronous of course for making 44 part of the 4th synchronous pulley be located at second
Between belt wheel 42 and the 6th synchronous pulley 46, the width of the 4th synchronous pulley 44 should be not more than the second synchronous pulley 42 and the 6th
Gap width between synchronous pulley 46, the i.e. width of the 4th synchronous pulley 44 are not more than the width of third synchronous pulley 43.
In addition, also tensioning wheel can be arranged (in figure not on the first synchronous belt 51, the second synchronous belt 52 and third synchronous belt 53
Show) synchronous belt is compressed, it can control the tightness of synchronous belt.
Referring to Fig. 4, the joint of robot in order to protect the utility model, it can be in the first mounting plate 11 and the second mounting plate
Shell 80 is set on 12, i.e. backplate can also make joint of robot more for preventing internal belt wheel and synchronous belt to be collided damage
Modularity is easily installed.
As shown in figure 3, being provided with output rotation on the inside of the flange of the one end connecting on output revolving shaft 22 with the first mounting plate
Encoder 91, output rotary encoder 91 can detect that output revolving shaft 22 rotate angle, specifically, due to output revolving shaft 22 with
First mounting plate 11 connection one end have a distance be it is empty be fitted without component, so output rotary encoder 91 can be set
It sets in one end that output revolving shaft 22 is connect with the first mounting plate 11, and the inside of the first output flange 71 is set, more specifically,
The code-disc 911 of output rotary encoder 91 can be fixed on the first output flange 71, and the first output flange 71 is followed to rotate synchronously,
To detect the rotational angle of output revolving shaft 22, and the reading head 912 of output rotary encoder 91 can be fixed on output revolving shaft 22,
It is and fixed, that is to say, that not follow output revolving shaft 22 to rotate, turning for code-disc 911 can be thus read by reading head 912
Dynamic angle.
Output rotary encoder 91 can electric machine controller 95 connect, when output revolving shaft 22 rotation after the completion of, output rotation compile
Code device 91 reads the angle that output revolving shaft 22 rotates, since synchronous belt has toughness, so the rotation of motor 30 is transmitted to defeated
Error may be generated during shaft 22 out, the output that electric machine controller 95 gets the detection of output rotary encoder 91 turns
The rotational angle of axis 22 avoids the error generated in transmission process, makes as the position feedback transducer of position ring angle control
Rotation control is more accurate, position when motor rotary encoder 93 is as motor-field orientation and speed ring and motor high speed rotation
Ring sensor.Electric machine controller 95 be include communication interface, encoder interfaces, motor-drive circuit, power supply, DSP operation unit
Etc. being the control device that designs exclusively for control rotation precision.
For avoid as failure or power failure and caused by joint it is out of control, can electromagnetic brake 92 be set on motor 30, will
Brake rim of the external rotor radial outer rim of motor 30 as electromagnetic brake 92, electromagnetic brake 92 are connect with controller, power loss
Rapid locking motor prevents joint out of control afterwards.
Fig. 5 is the schematic diagram of the section structure of another embodiment of the utility model joint of robot, as shown in figure 5, motor 30
Side on first mounting plate 11 far from the second mounting plate 12 can also be set, rather than be arranged in the first mounting plate 11 and the
Between two mounting plates 12.Output rotary encoder 91 and motor rotary encoder 93 can also be located at the first mounting plate 11 far from the
The side of two mounting plates 12, rather than between the first mounting plate 11 and the second mounting plate 12.
The utility model also provides a kind of control method based on above-mentioned joint of robot, which is characterized in that including as follows
Step:
The practical angle rotated of output revolving shaft is read by output rotary encoder；
Using the practical angle rotated of output revolving shaft as position feed back signal and the angle that rotates of needs of setting as to
Determine signal and carries out position adjusting, control motor rotation, so that output revolving shaft follows the variation of instruction angle；
The position feed back signal is less than preset threshold in the rotational angle of joint of robot and the difference of instruction angle, with
And motor speed be lower than setting value when generated by output rotary encoder, otherwise generated by motor rotary encoder；
Since synchronous belt can elongate after stress, the deflection of generation can be revolved by reading output rotary encoder and motor
Turn the angle value of encoder after unified angle equivalent, synchronous belt by torque hour angle degree difference value with do not stress square when differential seat angle
The difference of value just express the deflection that synchronous belt generates after stress, the output for passing through Deformation calculation output flange turns
Square；
The deflection that synchronous belt generates after stress is nonlinear change by different power, to pass through reality
Calibration is to determine numerical value.
The utility model also provides a kind of robot, the robot including using three-level synchronous belt retarder as described above
Joint.Specifically, joint of robot can be mounted on to the position for needing to rotate in robot, such as the arm of robot, by machine
The first mounting plate 11 and the second mounting plate 12 of device person joint is fixed in robot, the output flange at 22 both ends of output revolving shaft with
The arm connection for needing to rotate, or only connect the arm that the output flange with needs of the wherein one end of output revolving shaft 22 rotate,
Arm is driven to rotate together by output flange.
The joint of robot of the utility model is realized by synchronous belt band movable belt pulley to slow down, and manufacturing cost is low, running noises
It is small；Rotary encoder can be set on output revolving shaft, and whether detection output revolving shaft goes in place, and according to the control errors of rotation
Motor continues to rotate, and output revolving shaft is made to go to the position of needs, solves the problems, such as that synchronous belt deceleration positioning accuracy is poor；It is provided with
Three groups of synchronous belts carry out three-level deceleration, fully achieve deceleration demand；Belt wheel is gear, also corresponding setting on the inside of synchronous belt
There is the serrated face being adapted to the gear teeth of gear, the frictional force between synchronous belt and gear can be increased, synchronous belt is avoided to skid；Entirely
Joint of robot is arranged to a mould group, and the fixation of the components such as motor needs not adhere to robot arm or shell, convenient for peace
Assembly and disassembly；Structure is compact to design, and the 4th synchronous pulley can be located in the gap of the second synchronous pulley and the 6th synchronous pulley, subtracts
The small volume of entire joint of robot, at the same be arranged three-level slow down relative to only setting primary speed-down can greatly reduce every it is same
The length of band is walked, and then reduces the length of joint of robot；Also settable electromagnetic brake, can embrace in unexpected situations on motor
Dead motor prevents joint of robot out of control.
It should be understood that the application of the utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
It says, it can be modified or changed according to the above description, and all these modifications and variations all should belong to the appended power of the utility model
The protection scope that benefit requires.
Claims (5)
1. a kind of joint of robot using three-level synchronous belt retarder characterized by comprising
The first mounting plate and the second mounting plate being oppositely arranged in parallel；
Both ends are rotatably connected the machine shaft on first mounting plate and the second mounting plate respectively；
Both ends are rotatably connected on first mounting plate and the second mounting plate respectively and are arranged in parallel with the machine shaft
Output revolving shaft；
The motor that described machine shaft one end is set and is fixed on first mounting plate；
The movable end side for being set to the motor, the first synchronous pulley rotated synchronously with the machine shaft；
The second synchronous belt for being rotatably set on the output revolving shaft, passing through synchronous band connection with first synchronous pulley
Wheel；
Rotatably it is set on the output revolving shaft and is located at separate first mounting plate of second synchronous pulley
Side, the third synchronous pulley rotated synchronously with second synchronous pulley；
The 4th synchronous pulley for being rotatably set on machine shaft, passing through synchronous band connection with the third synchronous pulley；
Rotatably it is set on the machine shaft and is located at separate first mounting plate of the 4th synchronous pulley
Side, the 5th synchronous pulley rotated synchronously with the 4th synchronous pulley；And
It is fixed on the output revolving shaft and with the 5th synchronous pulley by synchronous band connection, for driving the output to turn
The 6th synchronous pulley that axis rotates synchronously；
The diameter of second synchronous pulley is greater than the diameter of first synchronous pulley, and the diameter of the 4th synchronous pulley is big
In the diameter of the third synchronous pulley, the diameter of the 6th synchronous pulley is greater than the diameter of the 5th synchronous pulley；
One end that the output revolving shaft is connect with first mounting plate is connected with the output rotated synchronously with the output revolving shaft
Rotary encoder；
One end that the machine shaft is provided with motor is connected with the motor rotary encoder with the motor synchronous rotary.
2. the joint of robot according to claim 1 using three-level synchronous belt retarder, which is characterized in that the output
The both ends or in which one end of shaft are provided with output flange.
3. the joint of robot according to claim 1 using three-level synchronous belt retarder, which is characterized in that the motor
On be provided with electromagnetic brake.
4. the joint of robot according to claim 1 using three-level synchronous belt retarder, which is characterized in that the motor
It is arranged on first mounting plate far from second mounting plate side.
5. the joint of robot according to claim 1 using three-level synchronous belt retarder, which is characterized in that described second
Interval width between synchronous pulley and the 6th synchronous pulley is not less than the width of the 4th synchronous pulley, and the described 4th
Synchronous pulley part is between second synchronous pulley and the 6th synchronous pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820481527.4U CN208215393U (en) | 2018-04-08 | 2018-04-08 | Using the joint of robot of three-level synchronous belt retarder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820481527.4U CN208215393U (en) | 2018-04-08 | 2018-04-08 | Using the joint of robot of three-level synchronous belt retarder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208215393U true CN208215393U (en) | 2018-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820481527.4U Expired - Fee Related CN208215393U (en) | 2018-04-08 | 2018-04-08 | Using the joint of robot of three-level synchronous belt retarder |
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| CN (1) | CN208215393U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019196723A1 (en) * | 2018-04-08 | 2019-10-17 | 深圳市东方伺服数控技术有限公司 | Robot joint using three-stage synchronous belt speed reducer and control method therefor |
| CN111706648A (en) * | 2020-07-20 | 2020-09-25 | 昀智科技（北京）有限责任公司 | Speed reducer based on step pulley and synchronous belt and operation method |
| JP7533805B2 (en) | 2021-01-29 | 2024-08-14 | セイコーエプソン株式会社 | robot |
-
2018
- 2018-04-08 CN CN201820481527.4U patent/CN208215393U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019196723A1 (en) * | 2018-04-08 | 2019-10-17 | 深圳市东方伺服数控技术有限公司 | Robot joint using three-stage synchronous belt speed reducer and control method therefor |
| CN111706648A (en) * | 2020-07-20 | 2020-09-25 | 昀智科技（北京）有限责任公司 | Speed reducer based on step pulley and synchronous belt and operation method |
| JP7533805B2 (en) | 2021-01-29 | 2024-08-14 | セイコーエプソン株式会社 | robot |
| JP7533806B2 (en) | 2021-01-29 | 2024-08-14 | セイコーエプソン株式会社 | robot |
| JP7552392B2 (en) | 2021-01-29 | 2024-09-18 | セイコーエプソン株式会社 | robot |
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Granted publication date: 20181211 |