Unlock instant, AI-driven research and patent intelligence for your innovation.

Delta robot fourth shaft transmission mechanism with overhead spherical hinge clamping square shaft rod

A robot and shaft transmission technology, which is applied in the field of robots, can solve the problems of increasing the load of the shaft drive motor, the influence of the shaft, and the burden, and achieve the effects of reducing the load of the drive motor, prolonging the service life, and lightening the structural quality

Active Publication Date: 2014-07-23
杭州钱江机器人有限公司
View PDF7 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problems of the above-mentioned several forms during the operation of the robot are: in the first form, the ball spline shaft is made of alloy steel, which has a heavy mass and a large moment of inertia, which increases the load on the driving motor of the robot; The high-frequency vibration generated by high-speed motion makes the ball spline shaft wear out quickly and must be replaced in a short period of time. During the service life of a Delta robot, it needs to be replaced many times (dozens of times under severe working conditions) to replace the assembly of this part , both the user and the manufacturer are a great burden and inconvenience
However, sliding friction always has a certain axial resistance, and the elastic deformation of the shaft also affects the accuracy of the work or produces a certain delay when the radial torsion is transmitted by rapid rotation, which will reduce the working efficiency of the robot.
In addition, although materials with a lower coefficient of friction can be used in the application, friction will cause wear and be accompanied by dust, and the dust will have a certain degree of pollution.
The third form, although there are not many problems of the first two, but because the mechanism is placed on one of the three driving axes of the Delta robot in parallel, the load on the drive motor of this axis is increased; in addition , since the motor is always in motion during the robot's work, the protection technology requirements for the motor and motor cables are relatively high
In summary, the status quo of the fourth-axis transmission mechanism of the four-degree-of-freedom Delta robot forms a technical weakness of this type of robot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Delta robot fourth shaft transmission mechanism with overhead spherical hinge clamping square shaft rod
  • Delta robot fourth shaft transmission mechanism with overhead spherical hinge clamping square shaft rod
  • Delta robot fourth shaft transmission mechanism with overhead spherical hinge clamping square shaft rod

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0026] Specific implementation mode one: as Figure 1 to Figure 8 As shown, the fourth-axis transmission mechanism of the Delta robot with the square shaft clamped by the overhead ball joint includes a drive motor 2, a synchronous belt transmission mechanism 23, a square shaft 8, a flange 24, a cross roller bearing 7 and The ball joint mechanism 5 that has three rollers 13; The outer ring of described drive motor 2 and cross roller bearing 7 is all fixedly installed (preferably fixed with screw) on the mechanism body 25 of Delta robot, and described synchronous belt The active synchronous pulley 1 of the transmission mechanism 23 is installed on the output shaft of the drive motor 2, and the flange 24 is connected with the inner ring of the cross roller bearing 7, preferably with screws; the passive synchronous belt of the synchronous belt transmission mechanism 23 Wheel 4 is fixedly mounted on the flange 24, preferably fixed with screws; the flange 24 and the passive synchron...

specific Embodiment approach 2

[0030] Specific implementation mode two: as figure 1 , Figure 7 and Figure 8As shown in the specific embodiment one, the fourth shaft transmission mechanism of the Delta robot with the overhead ball joint clamping the square shaft, the ball joint mechanism 5 with three rollers 13 includes an inner ring frame 9 and a middle ring frame 10 1. The connecting shaft 11 of the inner ring frame and the connecting shaft 12 of the middle ring frame; the number of the connecting shaft 11 of the inner ring frame and the connecting shaft 12 of the middle ring frame are two respectively, and the inner ring frame 9 connects the shaft 11 and the middle ring frame 10 through two inner ring frames connection, the two inner ring frame connecting shafts 11 are coaxially arranged; the middle ring frame 10 is connected to the flange 24 through two middle ring frame connecting shafts 12, the two middle ring frame connecting shafts 12 are coaxially arranged, and the inner ring frame connecting sha...

specific Embodiment approach 3

[0032] Specific implementation mode three: as Figure 5 and Figure 7 As shown, the fourth-axis transmission mechanism of the Delta robot with the overhead spherical hinge clamping the square shaft described in the third specific embodiment, two of the opposite grooves of the cross-shaped groove 6 are deep grooves, and the rest of the cross-shaped groove 6 The two opposite grooves are shallow grooves, and the two rollers 13 in the three rollers 13 are all vertically arranged and installed in the same deep groove in the cross-shaped groove 6, and the remaining one roller 13 in the three rollers 13 is installed In another deep groove in the cross groove 6.

[0033] working principle

[0034] When the terminal working platform 27 of the Delta robot performs compound motion, it drives the square shaft 8 connected to the universal joint to perform linear motion. At this time, the inner ring frame 9 and the middle ring frame 10 in the ball joint mechanism 5 rotate at corresponding...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a Delta robot fourth shaft transmission mechanism with an overhead spherical hinge clamping a square shaft rod, and belongs to the technical field of robots. Therefore, the needs for the performance of a Delta robot in the rapid industrial development process of our country can be met. A driving motor and an outer ring of a crossed roller bearing are fixedly arranged on a mechanism body of the Delta robot, a driving synchronous pulley of a synchronous belt drive mechanism is arranged on an output shaft of the driving motor, a flange plate is connected with an inner ring of the crossed roller bearing, a driven synchronous pulley of the synchronous belt drive mechanism is fixedly arranged on the flange plate, a spherical hinge mechanism with three rolling wheels is fixedly arranged in a hollow cavity of the flange plate, the square shaft rod penetrates through the three rolling wheels of the spherical hinge mechanism, the tail end of the square shaft rod is connected with a tail end work platform of the Delta robot, and the square shaft rod does linear movement in the three rolling wheels clamping the square shaft rod. It can be guaranteed that a Delta robot fourth shaft motor drives the synchronous pulleys to rotate, and radial torsion is output through the spherical hinge mechanism.

Description

technical field [0001] The invention relates to a fourth-axis transmission mechanism of a Delta robot, which belongs to the technical field of robots. Background technique [0002] The process of China's high industrialization has led to the rapid development of robot application technology, and industrial robots are rapidly replacing the main labor force in various production lines-people. Due to its high efficiency and speed, Delta robots have become the first choice for sorting and packaging robots in the production lines of food, medicine, and daily chemical products. It is predicted that the domestic demand in China will be around hundreds of thousands of units in the next few years, and the market potential is huge. . According to the survey, the transmission mechanism of the fourth axis of the four-degree-of-freedom Delta robot in the current application field is mainly in the following forms: [0003] 1. A ball spline shaft is used in the middle of the universal jo...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0051
Inventor 季晨刘玉炯孔民秀
Owner 杭州钱江机器人有限公司