Two-degree-of-freedom manipulator based on synchronous belt differential transmission

Abstract

The invention discloses a two-degree-of-freedom manipulator based on synchronous belt differential transmission. Comprising a first mechanical arm, a second mechanical arm, a first servo motor, a second servo motor, a first synchronous belt, a second synchronous belt, a third synchronous belt, a fourth synchronous belt, a first synchronous belt wheel, a second synchronous belt wheel, a third synchronous belt wheel, a fourth synchronous belt wheel, a first rubber pressing wheel, a second rubber pressing wheel and an inner gear ring. The output end of the first servo motor is connected with the first synchronous belt wheel, the first synchronous belt wheel is connected with the third synchronous belt wheel through the first synchronous belt, the third synchronous belt wheel is connected with one end of the third synchronous belt, and the other end of the third synchronous belt is pressed on the inner gear ring through the first rubber pressing wheel. The device is used for the tail ends of five and six shafts of a robot or tail end manipulators of other automatic equipment, joint rotation is achieved mainly through the synchronous belt gear technology, cost is lower, transmission is based on a synchronous belt and gears, back clearance is zero, and precision is high.

Description

Technical Field

[0001] This invention relates to the field of robotic wrist technology, and in particular to a two-degree-of-freedom robotic hand based on synchronous belt differential transmission. Background Technology

[0002] Most existing multi-degree-of-freedom robotic arms use an RV reducer or harmonic reducer plus servo motor plus driver mode. This device has a complex structure, high cost, and is difficult to maintain. Summary of the Invention

[0003] The purpose of this invention is to at least address one of the aforementioned technical deficiencies.

[0004] Therefore, one objective of this invention is to propose a two-degree-of-freedom manipulator based on synchronous belt differential transmission to solve the problems mentioned in the background art and overcome the shortcomings of the prior art.

[0005] This invention discloses a two-degree-of-freedom manipulator based on synchronous belt differential transmission, comprising a first manipulator, a second manipulator, a first servo motor, a second servo motor, a first synchronous belt, a second synchronous belt, a third synchronous belt, a fourth synchronous belt, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a fourth synchronous pulley, a first rubber pressure roller, a second rubber pressure roller, and an internal gear ring. The first manipulator has a third synchronous pulley, and the second manipulator has a fourth synchronous pulley. The output end of the first servo motor is connected to the first synchronous pulley. The first synchronous pulley is connected to the third synchronous pulley via the first synchronous belt. The third synchronous pulley is connected to one end of the third synchronous belt. The first rubber pressure roller presses the other end of the third synchronous belt onto the internal gear ring. The output end of the second servo motor is connected to the second synchronous pulley. The second synchronous pulley is connected to the fourth synchronous pulley via the second synchronous belt. The fourth synchronous pulley is connected to one end of the fourth synchronous belt. The second rubber pressure roller presses the other end of the fourth synchronous belt onto the internal gear ring.

[0006] Preferably, it also includes a T-shaped shaft, which is located below the third and fourth synchronous pulleys. The T-shaped shaft includes a support plate and a guide shaft, with the guide shaft located on the support plate.

[0007] In any of the above embodiments, it is preferred to further include a guide table, which is disposed between the first robotic arm and the second robotic arm.

[0008] In any of the above schemes, it is preferred that the first rubber pressure rollers be three in number.

[0009] In any of the above schemes, it is preferred that the second rubber pressure rollers be three in number.

[0010] In any of the above schemes, it is preferable to have two guide shafts.

[0011] In any of the above schemes, it is preferred that the first synchronous pulley is a twelve-tooth synchronous pulley and the second synchronous pulley is a twelve-tooth synchronous pulley.

[0012] In any of the above schemes, it is preferred that the third synchronous pulley is a 48-tooth synchronous pulley and the fourth synchronous pulley is a 48-tooth synchronous pulley.

[0013] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows:

[0014] 1. The present invention provides a two-degree-of-freedom manipulator based on synchronous belt differential transmission, which is used as the end effector of a five- or six-axis robot or other automated equipment. It mainly adopts synchronous belt and gear technology to realize joint rotation, which is lower in cost. Based on synchronous belt and gear transmission, it has zero backlash and high precision.

[0015] 2. The present invention provides a two-degree-of-freedom manipulator based on synchronous belt differential transmission, which is simple to maintain, easy to replace vulnerable parts, and uses synchronous belt transmission with lower noise than traditional reducers.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram of a two-degree-of-freedom manipulator based on synchronous belt differential transmission according to an embodiment of the present invention.

[0019] Figure 2 This is a top view of a two-degree-of-freedom manipulator based on synchronous belt differential transmission according to an embodiment of the present invention.

[0020] Figure 3 This is a bottom view of a two-degree-of-freedom manipulator based on synchronous belt differential transmission according to an embodiment of the present invention.

[0021] Figure 4 This is a rear view of a two-degree-of-freedom manipulator based on synchronous belt differential transmission according to an embodiment of the present invention.

[0022] Figure 5 According to an embodiment of the present invention, a two-degree-of-freedom manipulator based on synchronous belt differential transmission is provided. Figure 4 The cross-sectional view shown is along the AA direction.

[0023] Figure 6 According to an embodiment of the present invention, a two-degree-of-freedom manipulator based on synchronous belt differential transmission is provided. Figure 4The cross-sectional view shown is along the BB direction.

[0024] Figure 7 According to an embodiment of the present invention, a two-degree-of-freedom manipulator based on synchronous belt differential transmission is provided. Figure 1 The diagram shows a T-shaped shaft structure.

[0025] Wherein: 1-First robotic arm; 2-Second robotic arm; 3-First servo motor; 4-Second servo motor; 5-First synchronous belt; 6-Second synchronous belt; 7-Third synchronous belt; 8-Fourth synchronous belt; 9-First synchronous belt pulley; 10-Second synchronous belt pulley; 11-Third synchronous belt pulley; 12-Fourth synchronous belt pulley; 13-First rubber pressure roller; 14-Second rubber pressure roller; 15-Internal gear ring; 16-T-shaped shaft; 17-Guide shaft; 18-Guide table. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] like Figures 1 to 7 As shown, an embodiment of the present invention provides a two-degree-of-freedom manipulator based on synchronous belt differential transmission, comprising a first manipulator 1, a second manipulator 2, a first servo motor 3, a second servo motor 4, a first synchronous belt 5, a second synchronous belt 6, a third synchronous belt 7, a fourth synchronous belt 8, a first synchronous pulley 9, a second synchronous pulley 10, a third synchronous pulley 11, a fourth synchronous pulley 12, a first rubber pressure roller 13, a second rubber pressure roller 14, and an internal gear ring 15; the first manipulator 1 is equipped with the third synchronous pulley 11, the second manipulator 2 is equipped with the fourth synchronous pulley 12, and the first servo motor 3... The output end of the servo motor 3 is connected to the first synchronous pulley 9. The first synchronous pulley 9 is connected to the third synchronous pulley 11 through the first synchronous belt. The third synchronous pulley 11 is connected to one end of the third synchronous belt. The first rubber pressure roller 13 presses the other end of the third synchronous belt onto the internal gear ring 15. The output end of the second servo motor 4 is connected to the second synchronous pulley 10. The second synchronous pulley 10 is connected to the fourth synchronous pulley 12 through the second synchronous belt. The fourth synchronous pulley 12 is connected to one end of the fourth synchronous belt. The second rubber pressure roller 14 presses the other end of the fourth synchronous belt onto the internal gear ring 15.

[0028] The internal gear ring 15 is located below the third synchronous pulley 11 and the fourth synchronous pulley 12. The third synchronous pulley 11 is driven by the first synchronous belt and the first synchronous pulley 9. At the same time, the third synchronous pulley 11 is also connected to the third synchronous belt, and the transmission is sent to the internal gear ring 15 through the third synchronous belt. The fourth synchronous pulley 12 is driven by the second synchronous belt and the second synchronous pulley 10. At the same time, the fourth synchronous pulley 12 is also connected to the fourth synchronous belt, and the transmission is sent to the internal gear ring 15 through the fourth synchronous belt. The internal gear ring 15 achieves horizontal rotation, driving the first robotic arm 1 and the second robotic arm 2 to rotate horizontally. At the same time, the first robotic arm 1 can rotate around the third synchronous pulley 11 through the transmission between the first synchronous pulley 9 and the third synchronous pulley 11. The second robotic arm 2 rotates around the fourth synchronous pulley 12 through the transmission between the second synchronous pulley 10 and the fourth synchronous pulley 12. The first robotic arm 1 and the second robotic arm 2 rotate simultaneously at the same frequency.

[0029] Traditional speed reducers require replacement every 6000 hours, which is expensive. This invention provides a two-degree-of-freedom manipulator based on synchronous belt differential transmission for replacing synchronous belts at a very low cost. The replacement process is simple and easy, reducing maintenance costs and technical requirements. It primarily uses synchronous belt and gear technology to achieve joint rotation. Synchronous belt and pulley technologies are mature, highly standardized, and have low component procurement costs. Based on synchronous belt and gear transmission, it achieves zero backlash and high precision. The two-degree-of-freedom manipulator based on synchronous belt differential transmission produces a noise level of approximately 17 decibels, compared to 27 decibels for a traditional speed reducer, resulting in a 10-decibel reduction in noise.

[0030] Furthermore, it also includes a T-shaped shaft 16, which is located below the third synchronous pulley 11 and the fourth synchronous pulley 12. The T-shaped shaft 16 includes a support plate and a guide shaft 17, with the guide shaft 17 located on the support plate. The function of the guide shaft 17 is to guide the third and fourth synchronous belts. The third synchronous belt passes through the guide shaft 17, and the first rubber pressure roller 13 presses the third synchronous belt onto the internal teeth of the internal gear ring 15.

[0031] Optionally, a guide table 18 is also included, which is located between the first robotic arm 1 and the second robotic arm 2. The guide table 18 serves to guide the first and second transmission belts.

[0032] Specifically, there are three first rubber pressure rollers 13. The three first rubber pressure rollers 13 are aligned with the arc of the inner teeth of the inner gear ring 15, so that the three first rubber pressure rollers 13 press the other end of the third synchronous belt onto the inner gear ring 15, causing friction between the transmission belt and the inner teeth of the inner gear ring 15.

[0033] Specifically, three second rubber pressure rollers 14 are provided. The arc of the three second rubber pressure rollers 14 is opposite to that of the inner teeth of the inner gear ring 15, so that the three second rubber pressure rollers 14 press the other end of the third synchronous belt onto the inner gear ring 15, causing friction between the transmission belt and the inner teeth of the inner gear ring 15. A worktable can be set at the bottom of the inner gear ring 15, and the first rubber pressure rollers 13 and the second rubber pressure rollers 14 are fixed on the worktable. A certain distance is left between the first robotic arm 1 and the second robotic arm 2 and the inner gear ring 15 to prevent collision. This enables the first robotic arm 1 and the second robotic arm 2 to rotate in the vertical direction.

[0034] Optionally, two guide shafts 17 are provided. The two guide shafts 17 are located at both ends of the support plate.

[0035] Specifically, the first synchronous pulley 9 is a twelve-tooth synchronous pulley, and the second synchronous pulley 10 is a twelve-tooth synchronous pulley.

[0036] Optionally, the third synchronous pulley 11 is a 48-tooth synchronous pulley, and the fourth synchronous pulley 12 is a 48-tooth synchronous pulley.

[0037] The working principle of a two-degree-of-freedom manipulator based on synchronous belt differential transmission according to an embodiment of the present invention is as follows:

[0038] The first servo motor drives the first synchronous pulley to rotate. The first synchronous pulley and the third synchronous pulley are connected by a first synchronous belt, achieving a speed reduction effect. The second servo motor drives the second synchronous pulley to rotate. The second synchronous pulley and the fourth synchronous pulley are connected by a second synchronous belt, achieving a speed reduction effect, further enabling the rotation of the second robotic arm. The first robotic arm rotates around the center point of the third synchronous pulley, and the second robotic arm rotates around the center point of the fourth synchronous pulley. Both the first and second robotic arms can simultaneously achieve 180° free rotation.

[0039] The third synchronous pulley drives the third synchronous belt, and the fourth synchronous pulley drives the fourth synchronous belt. The third and fourth synchronous belts are driven at different speeds onto the internal gear ring. The first rubber wheel presses the third synchronous belt onto the internal gear ring, and the second rubber pressure wheel presses the fourth synchronous belt onto the internal gear ring, driving the internal gear ring to rotate and achieving 360° horizontal free rotation.

[0040] The two-degree-of-freedom manipulator based on synchronous belt differential transmission according to an embodiment of the present invention has a simple structure, stable operation, is easy to maintain, and has low cost.

[0041] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0042] It will be readily understood by those skilled in the art that this invention includes any combination of the inventive description and specific embodiments outlined in the foregoing specification, as well as the various parts shown in the accompanying drawings. Due to space limitations and for the sake of brevity, not all of these combinations have been described in detail. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0043] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A two-degree-of-freedom manipulator based on synchronous belt differential transmission, characterized in that, The system includes a first robotic arm, a second robotic arm, a first servo motor, a second servo motor, a first synchronous belt, a second synchronous belt, a third synchronous belt, a fourth synchronous belt, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a fourth synchronous pulley, a first rubber pressure roller, a second rubber pressure roller, and an internal gear ring. The first robotic arm has the third synchronous pulley, and the second robotic arm has the fourth synchronous pulley. The output end of the first servo motor is connected to the first synchronous pulley. The first synchronous pulley is connected to the third synchronous pulley via the first synchronous belt. The third synchronous pulley is connected to one end of the third synchronous belt. The first rubber pressure roller presses the other end of the third synchronous belt onto the internal gear ring. The output end of the second servo motor is connected to the second synchronous pulley. The second synchronous pulley is connected to the fourth synchronous pulley via the second synchronous belt. The fourth synchronous pulley is connected to one end of the fourth synchronous belt. The second rubber pressure roller presses the other end of the fourth synchronous belt onto the internal gear ring.

2. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 1, characterized in that, It also includes a T-shaped shaft, which is located below the third and fourth synchronous pulleys. The T-shaped shaft includes a support plate and a guide shaft, with the guide shaft located on the support plate.

3. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 1, characterized in that, It also includes a guide platform, which is located between the first robotic arm and the second robotic arm.

4. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 1, characterized in that, The first rubber pressure roller is set to three.

5. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 1, characterized in that, The second rubber pressure roller is set to three.

6. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 2, characterized in that, The guide shaft is provided in two parts.

7. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 1, characterized in that, The first synchronous pulley is a twelve-tooth synchronous pulley, and the second synchronous pulley is a twelve-tooth synchronous pulley.

8. A two-degree-of-freedom manipulator based on synchronous belt differential transmission as described in claim 1, characterized in that, The third synchronous pulley is a 48-tooth synchronous pulley, and the fourth synchronous pulley is a 48-tooth synchronous pulley.

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