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Six-degree-of-freedom Delta robot transmission mechanism

A transmission mechanism and robot technology, applied in the field of robots, can solve the problems of burden, increased load of the main drive motor, large motion inertia, etc., and achieve the effects of improving work efficiency and frequency, reducing protection requirements, and reasonable overall structure

Active Publication Date: 2015-01-07
JINGJIANG YONGXIN SPECIAL STEEL CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problems existing in the operation process of the six degrees of freedom Delta robot of the above two forms are: the first form, because the auxiliary motion drive mechanism is placed on the connecting rod mechanism of the Delta robot's active shaft, this increases the The load on the driving motor of the drive shaft also limits the working frequency and efficiency of the robot; 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 the second form, although the auxiliary motion drive motor is installed on the body platform of the Delta robot, the auxiliary drive shaft is a ball spline shaft, which is made of alloy steel, which is heavy in weight and large in inertia. The main drive motor increases the load; the high-frequency vibration generated by the high-speed movement of the Delta robot makes the ball spline shaft wear out quickly, and must be replaced in a short period of time, and it needs to be replaced many times in the service life of a Delta robot (it will reach several times under harsh working conditions. Ten times) to replace the assembly of this part, both the user and the manufacturer are a great burden and inconvenience

Method used

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  • Six-degree-of-freedom Delta robot transmission mechanism

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Experimental program
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specific Embodiment approach 1

[0025] Specific implementation mode one: as figure 1 , Figure 4 ~ Figure 10 As shown, the six-degree-of-freedom Delta robot transmission mechanism includes a body platform 9, three hollow main motion arms 1 (also known as one, two, and three axes, which of the three hollow main motion arms 1 is used as one, two or three axis, determined according to needs), three active drive transmission mechanisms, three auxiliary staggered shaft drive transmission mechanisms, three parallelogram linkages 8 and four, five, six axis transmission mechanisms, one end of the main movement arm 1 A fixed sleeve 101 is provided; the three active drive transmission mechanisms all include the main drive motor 2 and the main drive synchronous belt transmission mechanism 24, and the three auxiliary staggered shaft drive transmission mechanisms all include the auxiliary drive motor 5, the auxiliary drive Synchronous pulley 12, arm end seat 17, auxiliary rotation passive synchronous pulley 18 and auxil...

specific Embodiment approach 2

[0027] Specific implementation mode two: as figure 1 , Figure 9 As shown, in the six-degree-of-freedom Delta robot transmission mechanism described in Embodiment 1, each parallelogram linkage mechanism 8 includes two long columns 801 and two leaf springs 10; the two long columns 801 are arranged in parallel on two Inside the leaf spring 10 , and two leaf springs 10 are arranged in parallel at both ends of the two long columns 801 , and the two leaf springs 10 are hinged to the two long columns 801 .

specific Embodiment approach 3

[0028] Specific implementation mode three: as figure 2 , image 3 As shown, in the six-degree-of-freedom Delta robot transmission mechanism described in Embodiment 2, each leaf spring 10 includes two steel plates 101, two connecting plate columns 102 and four hexagon socket bolts 103; the two steel plates 101 are arranged in parallel , two connecting plate columns 102 are arranged in parallel between two steel plates 101, each connecting plate column 102 is provided with a central screw hole 1021 along the length direction, each steel plate 101 corresponds to the central screw hole 1021 of the connecting column 102 A connection hole 1011 is provided at the position, and each steel plate 101 is threadedly connected with the central screw hole 1021 of the connecting plate column 102 through the hexagon socket head bolt 103 penetrating into the connection hole 1011 .

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Abstract

The invention discloses a six-degree-of-freedom Delta robot transmission mechanism, relates to a robot transmission mechanism, and satisfies the demands on the Delta robot performance in the process of rapid industrial development in our country. A main driving motor and an auxiliary driving motor are fixed on a machine body platform; a hollow main movement arm is connected with a main driving passive synchronous belt wheel; the main driving motor is in transmission connection with a main driving synchronous belt transmission mechanism; an auxiliary driving connecting shaft is connected with the hollow main movement arm and a bevel gear pair transmission mechanism through two universal joints; a parallelogram link mechanism is in ball hinging with the hollow main movement arm and a terminal working platform; an auxiliary driving synchronous belt wheel fixedly coats an output shaft of the auxiliary driving motor, and is connected with an auxiliary rotating passive synchronous belt wheel through an auxiliary driving synchronous belt; a wheel shaft of the auxiliary driving synchronous belt wheel is staggered from a wheel shaft of the auxiliary rotating passive synchronous belt wheel by 90 degrees; and an upper universal joint is rotationally connected with the wheel shaft of the auxiliary rotating passive synchronous belt wheel. The six-degree-of-freedom Delta robot transmission mechanism is applied to a Delta robot.

Description

technical field [0001] The invention relates to a robot transmission mechanism and 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 main motion axis and the auxiliary motion axis of the six-degree-of-freedom Delta robot in the current application field mainly has the following two structural forms: [0003] 1. The three driving shaft mechanisms are i...

Claims

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Application Information

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IPC IPC(8): F16H37/12B25J9/08
CPCB25J9/08F16H37/124F16H2702/00
Inventor 孔民秀梁恒斌赵亮
Owner JINGJIANG YONGXIN SPECIAL STEEL CO LTD
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