Synchronous belt transmission type high-precision mechanical arm joint
A technology of synchronous belt drive and mechanical arm, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high cost of parts and complex joint processing technology, and achieve the effect of reducing joint cost
Active Publication Date: 2019-04-16
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Problems solved by technology
The joint processing process is complicated, and the cost of parts is high
Method used
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[0025] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0026] The invention provides a high-precision mechanical arm joint driven by a synchronous belt, which uses a stepping motor instead of a servo motor as the driving device of the robot joint, reducing the cost of the joint; using a planetary reducer instead of a harmonic reducer as the reduction device of the robot joint, reducing Cost of the joint; use the synchronous belt to offset the output rotation axis of the joint from the axis of the motor, so that the joint can conveniently realize the hollow wiring scheme; use the photoelectric switch as the position detection sensor of the joint, and design the photoelectric switch baffle to detect Joint zero position.
[0027] Such as figure 1 Shown is the front view of the manipulator joint. It can be seen from the figure that a synchronous belt transmission type high-precision manipulator joint i...
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The invention discloses a synchronous belt transmission type high-precision mechanical arm joint, and relates to the field of robot configuration and structure design. A joint shell, a stepping motor,a planet speed reducer, a small belt wheel, a large belt wheel, a synchronous belt, a first joint bearing and a large belt wheel support are included. The stepping motor is fixedly arranged at the middle portion of the joint shell. The planet speed reducer is in butt joint with an output shaft of the stepping motor. An output shaft of the planet speed reducer stretches out of the side wall of thejoint shell. The small belt wheel sleeves the outer wall of the output shaft of the planet speed reducer. The large belt wheel support is arranged at the side wall position of the lower end of the joint shell. The first joint bearing is arranged between the large belt wheel support and the side wall of the lower end of the joint shell, and the large belt wheel support rotates relative to the joint wheel. The large belt wheel sleeves the outer wall of the large belt wheel support. The synchronous belt sleeves the outer walls of the small belt wheel and the large belt wheel, and transmission isachieved. According to the synchronous belt transmission type high-precision mechanical arm joint, the joint cost is reduced, the hollow wire routing scheme can be conveniently achieved through the joint, and meanwhile the joint zero position is detected.
Description
technical field [0001] The invention relates to the field of robot configuration and structural design, in particular to a high-precision mechanical arm joint driven by a synchronous belt. Background technique [0002] The robot joint is the basic component of the robot, and its performance directly affects the performance of the robot. There are many types of robot joints. According to the different functions of the robot, the configuration of the joints and the form of the motion system are also different. [0003] The common joint forms of robots are mobile joints and rotational joints. The most widely used robot is a multi-joint robot, which is mainly composed of multiple rotary joints and connecting rods, simulating the functions of human shoulder joints, elbow joints and wrist joints. [0004] The current mainstream collaborative robots all adopt the joint design of "modularization", adopting the method of direct drive motor + harmonic reducer. The internal structure...
Claims
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Login to View More IPC IPC(8): B25J9/10
CPCB25J9/104
Inventor 程远超蔡赫李科孙光谱邓松波王燕波王昊
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS