Five-degree-of-freedom robot tail end transmission mechanism

A transmission mechanism and robot technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of increasing the difficulty of robots and increasing the size of the end of robots, and achieve the effect of ensuring compactness, flexible rotation, and accurate and reliable transmission

Active Publication Date: 2015-05-20
浙江瑞鹏机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the driving part of the end joint of the robot is placed near the end, it will increase the size of the end of the robot and increase the difficulty of the robot's normal work.

Method used

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  • Five-degree-of-freedom robot tail end transmission mechanism
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  • Five-degree-of-freedom robot tail end transmission mechanism

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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0023] like figure 1 and figure 2 As shown, this embodiment provides a five-degree-of-freedom robot terminal transmission mechanism, including: a first servo motor 1, a box shell 2, a second servo motor 3, a first harmonic reducer 4, a hollow transmission shaft 7, and a Driven spur gear 8, drive shaft 9, harmonic output end 14, drive spur gear 15, bevel gear set housing 16, drive bevel gear 18, second harmonic reducer 19, terminal output shaft 20, terminal harmonic housing 22, Driven bevel gear...

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Abstract

The invention provides a five-degree-of-freedom robot tail end transmission mechanism which comprises two rotating joints and two servo motors. Rotating axis lines of the rotating joints are orthogonal, and the servo motors are parallelly mounted in the rear. The first servo motor decelerates through a harmonic reducer component and then transmits power to the first hollow rotating joint through a pair of straight gears, so that the first rotating joint rotates, the straight gears are of staggered tooth structures to eliminate a rotary clearance, the second servo motor drives a transmission shaft, the transmission shaft penetrates the first rotating joint and is coaxial with the first rotating joint, the second servo motor is orthogonally transmitted through a pair of bevel gears, then decelerates through a second harmonic reducer component and drives a tail end output shaft, and an axis of the second servo motor is parallel to that of the first servo motor. The transmission mechanism can compress space occupied by the tail end of a robot, so that the robot is compact in structure and accurate and reliable in transmission and has a wide rotating range.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a five-degree-of-freedom serial robot end transmission mechanism. Background technique [0002] The structure of the end joint of an industrial robot has a great influence on the controllability, practicability and operability of the robot. The design of the end transmission mechanism of industrial robots is the focus of structural design of industrial robots. For a five-degree-of-freedom industrial robot, in order to ensure that it meets the requirements of fast response and good positioning accuracy under the premise of considering the cost, the simple solution is to add a degree of freedom to the four-axis SCARA robot. However, if the driving part of the end joint of the robot is placed near the end, the size of the end of the robot will be increased, making it difficult for the robot to work normally. The rear-mounted design of the motor can form a more compact ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/00
Inventor 赵言正付庄闫维新
Owner 浙江瑞鹏机器人科技有限公司
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