CN102699903A - Belt transmission structure for mechanical arm - Google Patents
Belt transmission structure for mechanical arm Download PDFInfo
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- CN102699903A CN102699903A CN2012102048237A CN201210204823A CN102699903A CN 102699903 A CN102699903 A CN 102699903A CN 2012102048237 A CN2012102048237 A CN 2012102048237A CN 201210204823 A CN201210204823 A CN 201210204823A CN 102699903 A CN102699903 A CN 102699903A
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- belt
- slide plate
- mechanical arm
- transmission structure
- pulling
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Abstract
The invention discloses a belt transmission structure for a mechanical arm, which comprises a transversal slide plate, a drawing arm mounted on the transversal slide plate, and a drawing slide plate mounted on the drawing arm, wherein at least two groups of belt pulleys are arranged on the drawing arm; a belt is mounted outside each group of belt pulley; at least two servomotors are mounted on the transversal slide plate; the belt pulleys are driven by the servomotors; and a belt clamp plate is arranged on each belt and is fixedly arranged with the drawing slide plate. The belt transmission structure provided by the invention has the advantages that the structure is simple; the assembly and the adjustment are very convenient; the transmission and the operation are stable; and the noise and the vibration are low.
Description
Technical field
The present invention relates to the mechanical transmissioning technology field, particularly relate to a kind of mechanical arm belt transmission structure.
Background technology
Follow the maturation of science and technology and industrial technology, mechanical arm has been used on the various industrial production lines.The major function of mechanical arm is to grasp object repeatedly through the arm pawl, and object is moved to another destination, and the displacement of mechanical arm is controlled through transmission mechanism by servo motor.
Existing transmission mechanism is mainly by the transmission of gear matched tooth bar, and gear and tooth bar bearing capacity are big, and transmission accuracy is higher, can reach 0.1mm, but and indefinite length butt joint continuity, transmission speed can very high (greater than 2m/s), but the rack-and-pinion transmission also has following shortcoming:
1) the wheel and rack requirement on machining accuracy is high, and its cost is relatively also than higher;
2) wheel and rack Installation and Debugging precision is high, wastes a large amount of man-hours;
3) wheel and rack is not suitable for remote transmission, and vibrations are big, noise is high, be prone to abrasion.
Therefore, to above-mentioned technical problem, be necessary to provide a kind of mechanical arm belt transmission structure, to overcome above-mentioned defective.
Summary of the invention
In view of this, the embodiment of the invention provide a kind of overcome rack-and-pinion transmission shortcoming the mechanical arm belt transmission structure.
To achieve these goals, the technical scheme that provides of the embodiment of the invention is following:
A kind of mechanical arm belt transmission structure; Comprise and walk crosswise slide plate, be installed on the pulling arm walked crosswise on the slide plate, be installed on the pulling slide plate on the pulling arm that said pulling arm is provided with at least two group belt pulleys, the outside of every group of belt pulley is equiped with belt; Said walking crosswise is equipped with at least two servo motors on the slide plate; Said belt pulley is through servo motor driven, and said belt is provided with the belt clamping plate, and said belt clamping plate and said pulling slide plate fixedly install.
As further improvement of the present invention, said servo motor is equipped with a reductor, said reductor be installed on said walk crosswise on the slide plate and with the coaxial setting of said servo motor.
As further improvement of the present invention, belt pulley comprises driving wheel and driven pulley, and said driving wheel is positioned on the arbor of said reductor.
As further improvement of the present invention; The pulling arm is provided with first slide rail and second slide rail; Said pulling slide plate is provided with first slide block and second slide block, and said pulling slide plate is free to slide on first slide rail of pulling arm and second slide rail through first slide block and second slide block.
As further improvement of the present invention, walk crosswise slide plate and comprise mutual vertically disposed vertical component effect and horizontal part, be respectively equipped with some through holes that differ in size on vertical component effect and the horizontal part.
As further improvement of the present invention, the vertical component effect of walking crosswise slide plate is provided with first fixed part and second fixed part, and said first fixed part and first slide rail fixedly install, and second fixed part and second slide rail fixedly install.
As further improvement of the present invention, to walk crosswise the vertical component effect and the horizontal part of slide plate and fix through ribs, said ribs is a triangle.
As further improvement of the present invention, the pulling arm is provided with some Pulley shafts, and said belt pulley is installed on the said Pulley shaft and can rotates around Pulley shaft.
As further improvement of the present invention, along the circumferential direction side is provided with some grooves on the belt pulley, and the contacted side of said belt and belt pulley is provided with some protuberances, and said protuberance and said groove engage each other.
As further improvement of the present invention, the two ends of belt pulley are provided with the stopper section, are used to stop belt landing from the belt pulley.
Can see that by above technical scheme the mechanical arm belt transmission structure that the embodiment of the invention provides has the following advantages:
Simple in structure, especially very convenient aspect the assembling adjustment;
Can relax load impacting, the belt pulley transmission operates steadily, low noise, low vibration;
Manufacturing and installation accuracy for belt pulley do not have engaged transmission strict;
Function with overload protection will be skidded on belt pulley as running into the overload belt at work, can prevent weak damage parts, plays the safeguard protection effect;
The diaxon centre-to-centre spacing adjustable range of belt pulley transmission is bigger;
Belt transmissioning mode is cheap aspect cost, need not lubricate and characteristics such as buffering, shock-absorbing, easy care, is applicable to the transmission occasion that diaxon centre-to-centre spacing is bigger.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiment that put down in writing among the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The schematic perspective view of the mechanical arm belt transmission structure that Fig. 1 provides for the embodiment of the invention;
The partial enlarged drawing of the mechanical arm belt transmission structure that Fig. 2 provides for the embodiment of the invention;
Fig. 3 looks sketch map for the right side of the mechanical arm belt transmission structure that the embodiment of the invention provides;
Fig. 4 looks sketch map for the left side of the mechanical arm belt transmission structure that the embodiment of the invention provides;
Fig. 5 looks sketch map for the master of the mechanical arm belt transmission structure that the embodiment of the invention provides.
Wherein: 10, walk crosswise slide plate; 11, vertical component effect; 12, vertical component effect; 13, ribs; 111, first fixed part; 112, second fixed part; 20, pulling arm; 21, main part; 22, first extension; 23 second extensions; 221, first slide rail; 231, second slide rail; 222, first mounting groove; 232, second mounting groove; 241 first Pulley shafts; 242, second Pulley shaft; 243, the 3rd Pulley shaft; 244, the 4th Pulley shaft; 30, pulling slide plate; 31, first installation portion; 32, second installation portion; 40, belt pulley; 41, first belt pulley; 42, second belt pulley; 43, the 3rd belt pulley; 44, the 4th belt pulley; 50, belt; 51, first belt; 52, second belt; 60, servo motor; 70, belt clamping plate; 80, reductor.
The specific embodiment
The invention discloses a kind of mechanical arm belt transmission structure, comprise and walk crosswise slide plate, be installed on the pulling arm walked crosswise on the slide plate, be installed on the pulling slide plate on the pulling arm that the pulling arm is provided with at least two group belt pulleys; The outside of every group of belt pulley is equiped with belt, walks crosswise at least two servo motors are installed on the slide plate, and belt pulley passes through servo motor driven; Belt is provided with the belt clamping plate, and belt clamping plate and said pulling slide plate fixedly install, and drives reductor through servo motor; Reductor drives belt pulley; Belt pulley drives belt, and belt drives the belt clamping plate, thereby the moving pulling slide plate of belt clamp strip is accomplished the actuation of mechanical arm.
In order to make those skilled in the art person understand the technical scheme among the present invention better; To combine the accompanying drawing in the embodiment of the invention below; Technical scheme in the embodiment of the invention is carried out clear, intactly description; Obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all should belong to the scope of the present invention's protection.
Ginseng Fig. 1 ~ stereogram, partial enlarged drawing and other views that is respectively mechanical arm belt transmission structure of the present invention shown in Figure 5 elaborates to the assembling annexation between each parts and parts among the present invention below in conjunction with accompanying drawing.
In preferred implementation of the present invention; The mechanical arm belt transmission structure comprises to be walked crosswise slide plate 10, be installed on the pulling arm 20 walked crosswise on the slide plate 10, be installed on the pulling slide plate 30 on the pulling arm 20, and pulling arm 20 is provided with two groups of belt pulleys 40, and the outside of every group of belt pulley 40 is equiped with belt 50; Walk crosswise two servo motors 60 are installed on the slide plate 10; Belt pulley 40 drives through servo motor 60, and belt 50 is provided with belt clamping plate 70, and belt clamping plate 70 fixedly install with pulling slide plate 30.Further, servo motor 60 is equipped with reductor 80 respectively, reductor 80 be installed on walk crosswise on the slide plate 10 and with servo motor 60 coaxial settings.
Join shown in Figure 2ly, pulling arm 20 is the lengthwise type, and its cross section roughly is " Π " shape, and pulling arm 20 comprises the main part 21 of an arc, and first extension 22 and second extension 23 that are provided with main part 21 approximate vertical.Wherein to be provided with second slide rail, 231, the first slide rails 221 identical with second slide rail, 231 shapes the top that is provided with first slide rail, 221, the second extensions 23, the top of first extension 22.First extension 22 and second extension 23 also are respectively equipped with first mounting groove 222 and second mounting groove, 232, the first mounting grooves 222 and second mounting groove 232 runs through at longitudinally, is used for being fixed togather with the mechanical arm miscellaneous part.
Walk crosswise slide plate 10 and comprise mutual vertically disposed vertical component effect 11 and horizontal part 12; Wherein vertical component effect 11 fixes with pulling arm 20; Horizontal part 12 is positioned at the below of pulling arm 20; Vertical component effect 11 is fixing through ribs 13 with horizontal part 12, and ribs 13 is a triangle in this embodiment, and ribs also can be rectangle, fan-shaped etc. in other embodiments.The vertical component effect 11 of walking crosswise slide plate 10 is provided with first fixed part 111 and second fixed part, 112, the first fixed parts 111 and fixedly installs with first slide rail 221 on the pulling arm 20, and second fixed part 112 fixedly installs with second slide rail 231 on the pulling arm 20.In addition, on the vertical component effect of walking crosswise slide plate 10 11 and horizontal part 12, be respectively equipped with some through holes that differ in size, be used for walking crosswise the miscellaneous part that slide plate 10 is installed to mechanical arm.
On the other end of walking crosswise slide plate 10 ribs 13, be provided with the reductor 80 of two servo motors 60 and two correspondences, servo motor 60 directly is installed on reductor 80 and walks crosswise on the slide plate 10, and the arbor of reductor 80 passes the through hole of walking crosswise slide plate 10.Reductor 80 utilizes the velocity transducer of gear, the winding number of servo motor 60 is decelerated to desired winding number, and obtain bigger torque.
Be provided with some Pulley shafts in the inside of pulling arm 20, be used to install belt pulley 40.Ginseng Fig. 3, shown in Figure 4; This embodiment middle belt pulley axle and belt pulley all are set to 4; Belt pulley 40 comprises first belt pulley 41, second belt pulley 42, the 3rd belt pulley 43 and the 4th belt pulley 44, and belt pulley is installed on the Pulley shaft and can rotates around Pulley shaft.Pulley shaft is included as first Pulley shaft 241, second Pulley shaft 242, the 3rd Pulley shaft 243 and the 4th Pulley shaft 244; Wherein first belt pulley 41 is installed on first Pulley shaft 241; Second belt pulley 42 is installed on second Pulley shaft 242; The 3rd belt pulley 43 is installed on the 3rd Pulley shaft 243, and the 4th belt pulley 44 is installed on the 4th Pulley shaft 244.Preferably, also be provided with the through hole that some installing and locating are used on first Pulley shaft 241, second Pulley shaft 242, the 3rd Pulley shaft 243 and the 4th Pulley shaft 244.
Along the circumferential direction side is provided with some grooves on the belt pulley 40, and belt 50 is provided with some protuberances with belt pulley 40 contacted sides, and protuberance and said groove engage each other.In addition, the two ends of belt pulley 40 are provided with the stopper section, are used to stop belt landing from the belt pulley.
Further, first belt pulley 41, second belt pulley 42 all link to each other with reductor 80 with servo motor 60 in this embodiment, and first belt pulley 41, second belt pulley 42 are driving wheel, and the 3rd belt pulley 43 and the 4th belt pulley 44 are driven pulley.The outside that the outside of first belt pulley 41 and the 3rd belt pulley 43 is equiped with first belt, 51, the second belt pulleys 42 and the 4th belt pulley 44 is equiped with second belt 52.
Preferably; On second belt 52, be provided with belt clamping plate 70, these belt clamping plate 70 and second belt 52 are synchronized with the movement, and after belt clamping plate 70 clamp second belt 52 belt clamping plate 70 are fixed on the pulling slide plate 30; Then when 52 motions of second belt; Second belt 52 can drive 70 motions of belt clamping plate, and belt clamping plate 70 are to fixedly install with pulling slide plate 30, and then pulling slide plate 30 also can be followed the motion of second belt 52 and moved.
The mechanical arm belt transmission structure operation principle that present embodiment provides is following:
The rotation of first belt pulley 41 and second belt pulley 42 drives first belt 51 and rotates along identical direction with second belt 52;
Being positioned at belt clamping plate 70 on second belt 52 follows the motion of second belt 52 and moves;
Pulling slide plate 30 fixedly installs with belt clamping plate 70, and the motion of belt clamping plate 70 promotes pulling slide plate 30 and on the transmission direction of belt, slides along first slide rail 221 and second slide rail 231.
Can see that by above technical scheme the mechanical arm belt transmission structure that the embodiment of the invention provides has the following advantages:
Simple in structure, especially very convenient aspect the assembling adjustment;
Can relax load impacting, the belt pulley transmission operates steadily, low noise, low vibration;
Manufacturing and installation accuracy for belt pulley do not have engaged transmission strict;
Function with overload protection will be skidded on belt pulley as running into the overload belt at work, can prevent weak damage parts, plays the safeguard protection effect;
The diaxon centre-to-centre spacing adjustable range of belt pulley transmission is bigger;
Belt transmissioning mode is cheap aspect cost, need not lubricate and characteristics such as buffering, shock-absorbing, easy care, is applicable to the transmission occasion that diaxon centre-to-centre spacing is bigger.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and under the situation that does not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore; No matter from which point; All should regard embodiment as exemplary; And be nonrestrictive, scope of the present invention is limited accompanying claims rather than above-mentioned explanation, therefore is intended to the implication of the equivalents that drops on claim and all changes in the scope are included in the present invention.Should any Reference numeral in the claim be regarded as limit related claim.
In addition; Describing according to embodiment though should be appreciated that this specification, is not that each embodiment only comprises an independently technical scheme; This narrating mode of specification only is for clarity sake; Those skilled in the art should make specification as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (10)
1. mechanical arm belt transmission structure comprises and walks crosswise slide plate, is installed on the pulling arm walked crosswise on the slide plate, is installed on the pulling slide plate on the pulling arm, it is characterized in that; Said pulling arm is provided with at least two group belt pulleys; The outside of every group of belt pulley is equiped with belt, and said walking crosswise is equipped with at least two servo motors on the slide plate, and said belt pulley passes through servo motor driven; Said belt is provided with the belt clamping plate, and said belt clamping plate and said pulling slide plate fixedly install.
2. mechanical arm belt transmission structure according to claim 1 is characterized in that said servo motor is equipped with a reductor, said reductor be installed on said walk crosswise on the slide plate and with the coaxial setting of said servo motor.
3. mechanical arm belt transmission structure according to claim 2 is characterized in that said belt pulley comprises driving wheel and driven pulley, and said driving wheel is positioned on the arbor of said reductor.
4. mechanical arm belt transmission structure according to claim 1; It is characterized in that; Said pulling arm is provided with first slide rail and second slide rail; Said pulling slide plate is provided with first slide block and second slide block, and said pulling slide plate is free to slide on first slide rail of pulling arm and second slide rail through first slide block and second slide block.
5. mechanical arm belt transmission structure according to claim 1 is characterized in that, the said slide plate of walking crosswise comprises mutual vertically disposed vertical component effect and horizontal part, is respectively equipped with some through holes that differ in size on vertical component effect and the horizontal part.
6. mechanical arm belt transmission structure according to claim 5; It is characterized in that; The said vertical component effect of walking crosswise slide plate is provided with first fixed part and second fixed part, and said first fixed part and first slide rail fixedly install, and second fixed part and second slide rail fixedly install.
7. mechanical arm belt transmission structure according to claim 6 is characterized in that, said vertical component effect and the horizontal part of walking crosswise slide plate fixed through ribs, and said ribs is a triangle.
8. mechanical arm belt transmission structure according to claim 1 is characterized in that, said pulling arm is provided with some Pulley shafts, and said belt pulley is installed on the said Pulley shaft and can rotates around Pulley shaft.
9. mechanical arm belt transmission structure according to claim 8; It is characterized in that; Along the circumferential direction side is provided with some grooves on the said belt pulley, and the contacted side of said belt and belt pulley is provided with some protuberances, and said protuberance and said groove engage each other.
10. mechanical arm belt transmission structure according to claim 9 is characterized in that the two ends of said belt pulley are provided with the stopper section, is used to stop belt landing from the belt pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102048237A CN102699903A (en) | 2012-06-20 | 2012-06-20 | Belt transmission structure for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102048237A CN102699903A (en) | 2012-06-20 | 2012-06-20 | Belt transmission structure for mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN102699903A true CN102699903A (en) | 2012-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012102048237A Pending CN102699903A (en) | 2012-06-20 | 2012-06-20 | Belt transmission structure for mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440893A (en) * | 2014-11-24 | 2015-03-25 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung three-axis servo mechanical hand |
| CN106056782A (en) * | 2016-06-30 | 2016-10-26 | 桂林电子科技大学 | Automatic package delivery machine |
| CN106466844A (en) * | 2015-08-20 | 2017-03-01 | 祥伟自动科技股份有限公司 | Oil pressure positioning mechanical arm |
| CN107598895A (en) * | 2017-09-15 | 2018-01-19 | 苏州欣航微电子有限公司 | A kind of reciprocating motion actuation means for boosting manipulator |
| CN111168952A (en) * | 2020-01-20 | 2020-05-19 | 金华凯力特自动化科技有限公司 | Five-axis full-servo drawing gear rack transmission mechanism |
| CN111452086A (en) * | 2020-05-11 | 2020-07-28 | 机器时代(北京)科技有限公司 | Swing arm for robot |
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| JPH02127020A (en) * | 1988-11-08 | 1990-05-15 | Pentel Kk | Equipment of robot for taking out and discharging molded article |
| JP2002192581A (en) * | 2000-12-25 | 2002-07-10 | Star Seiki Co Ltd | Belt driver for molding releasing unit |
| CN1593860A (en) * | 2004-06-18 | 2005-03-16 | 哈尔滨工业大学 | Transmission means of manipulator |
| CN101417422A (en) * | 2008-12-05 | 2009-04-29 | 上海耀皮康桥汽车玻璃有限公司 | Automatic original-glass fetching manipulator of automobile glass pre-treatment production line |
| CN202200295U (en) * | 2011-08-03 | 2012-04-25 | 金华凯力特自动化科技有限公司 | Up and down transmission mechanism of manipulator of injection molding machine |
| CN202702242U (en) * | 2012-06-20 | 2013-01-30 | 艾尔发（苏州）自动化科技有限公司 | Mechanical arm belt transmission structure |
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- 2012-06-20 CN CN2012102048237A patent/CN102699903A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH02127020A (en) * | 1988-11-08 | 1990-05-15 | Pentel Kk | Equipment of robot for taking out and discharging molded article |
| JP2002192581A (en) * | 2000-12-25 | 2002-07-10 | Star Seiki Co Ltd | Belt driver for molding releasing unit |
| CN1593860A (en) * | 2004-06-18 | 2005-03-16 | 哈尔滨工业大学 | Transmission means of manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440893A (en) * | 2014-11-24 | 2015-03-25 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung three-axis servo mechanical hand |
| CN106466844A (en) * | 2015-08-20 | 2017-03-01 | 祥伟自动科技股份有限公司 | Oil pressure positioning mechanical arm |
| CN106056782A (en) * | 2016-06-30 | 2016-10-26 | 桂林电子科技大学 | Automatic package delivery machine |
| CN106056782B (en) * | 2016-06-30 | 2019-02-15 | 桂林电子科技大学 | A kind of automatic transaction apparatus of package |
| CN107598895A (en) * | 2017-09-15 | 2018-01-19 | 苏州欣航微电子有限公司 | A kind of reciprocating motion actuation means for boosting manipulator |
| CN111168952A (en) * | 2020-01-20 | 2020-05-19 | 金华凯力特自动化科技有限公司 | Five-axis full-servo drawing gear rack transmission mechanism |
| CN111452086A (en) * | 2020-05-11 | 2020-07-28 | 机器时代(北京)科技有限公司 | Swing arm for robot |
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Application publication date: 20121003 |