CN104608144B - Robot cavity speed reducer harmonic generator mounting structure - Google Patents
Robot cavity speed reducer harmonic generator mounting structure Download PDFInfo
- Publication number
- CN104608144B CN104608144B CN201510062166.0A CN201510062166A CN104608144B CN 104608144 B CN104608144 B CN 104608144B CN 201510062166 A CN201510062166 A CN 201510062166A CN 104608144 B CN104608144 B CN 104608144B
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- China
- Prior art keywords
- joint
- foundry goods
- penetration pipe
- wave producer
- casting
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 17
- 230000035515 penetration Effects 0.000 claims description 31
- 238000007789 sealing Methods 0.000 claims description 9
- 238000005266 casting Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The invention relates to the field of robot joint installation structures, and discloses a robot hollow speed reducer harmonic generator installation structure which comprises a threading pipe and a joint casting, wherein one end of the threading pipe is arranged in a cavity inside the joint casting in a penetrating mode and is fixed, and the other end of the threading pipe penetrates through the joint casting and extends out of the joint casting to form an installation part; the wave generator is sleeved outside the mounting part of the threading pipe in an inverted mounting mode and is matched with the hollow speed reducer; the tail end of the wave generator is provided with a spur gear which is matched with the motor. The mounting structure in this application under the condition that does not influence the drive ratio, effectual utilized with the adjacent next articular space of foundry goods joint, effectively reduced the articular size of foundry goods. The inverted structure is simple in structure, convenient to machine and produce and low in production cost; because partial structure is arranged in the next joint adjacent to the casting joint, the size of the casting joint is reduced, and the external appearance is better.
Description
Technical field
The present invention relates to joint of robot mounting structure field, more specifically disclose a kind of robot hollow reducer humorous
Wave producer mounting structure.
Background technology
In prior art, when manufacture process is designed to joint of robot, in order to ensure robot joint structure
Compactedness, the hollow reducer harmonic oscillator in joint of robot is installed using positive assembling structure mostly, will motor, subtract
The equipment such as fast machine are all arranged on each intra articular of robot.Concrete structure is that penetration pipe is to carry out injection from reductor right-hand member,
Wave producer adopts positive assembling structure, and now, the end of penetration pipe is located at the inside of joint foundry goods；Meanwhile, pacify with threading pipe end
The gear shaft that the spur gear of dress connects and motor fit in the foundry goods of joint.Although equipment is conducive to using above-mentioned positive assembling structure
Maintenance and management, but overall dimensions in the joint that virtually increased robot, not only affect the overall appearance of robot
Property, and inconvenience is processed to it producing, and also improves the Financial cost in robot production process simultaneously.The opposing party
Face, the structure due to causing the intra articular of robot using positive assembling structure is compact, to the circuit within joint of robot
The design walking proposes high requirement, increased the difficulty producing design.
Therefore, market is needed a kind of installation different from robot of the prior art hollow reducer harmonic oscillator badly and is tied
Structure, the articulation structure enabling to robot is simpler, processing is more convenient, aesthetic property is more preferable and production cost more
Low.
Content of the invention
It is an object of the invention to, a kind of robot hollow reducer harmonic oscillator mounting structure is proposed, existing to solve
There is the joint position local caused at the joint position of robot in technology using the positive assembling structure of hollow reducer harmonic oscillator
Structure is excessively compact, cosmetic look is poor, production cost is high, manufacturing processing technic is complicated, and intra articular cabling difficulty
Problem
For reaching this purpose, the present invention employs the following technical solutions：
A kind of robot hollow reducer harmonic oscillator mounting structure, including penetration pipe and joint foundry goods, described threading
One end of pipe is arranged in the cavity of described joint cast-internal and fixing, and the other end of described penetration pipe passes through the casting of described joint
Part reaches the outside of described joint foundry goods and forms installation portion；Wave producer is sleeved on described threading by the way of reverse mounted
The outside of the installation portion of pipe, described wave producer is matched with hollow reducer；The end of described wave producer is provided with commutating tooth
Wheel, described spur gear is matched with motor.
Further, the outer cover of described wave producer is equipped with adpting flange, described adpting flange be arranged at described in
Firm wheel in empty reductor is fixed together.
Further, the flexbile gear in described hollow reducer and described joint foundry goods are fixed together.
Further, the drive end of described motor installs sprocket drive spindle, and described gear shaft is arranged in described adpting flange,
Described gear shaft is meshed with described spur gear.
Further, it is provided with bearing between described adpting flange and wave producer；Described adpting flange and penetration pipe
It is provided with sealing ring between installation portion.
Further, described wave producer is sleeved on the locating surface being arranged at described threading tube outer surface by installing rack
The outside of the installation portion of described penetration pipe；It is provided with bearing between described installing rack and wave producer.
Further, set gradually between described penetration pipe is arranged in the foundry goods of described joint one end and described installing rack
There are bearing and sealing ring.
Further, described motor is located in next joint being connected with described joint foundry goods with gear shaft.
Beneficial effects of the present invention are：Mounting structure in the application is in the case of not affecting gear ratio, effectively sharp
With the space in next joint adjacent with foundry goods joint, effectively reduce the size in foundry goods joint.Upside-down mounting knot in the application
The structure of structure is simple, processing is convenient, low production cost；Due to part-structure being arranged at next adjacent with foundry goods joint
The size in joint so that foundry goods joint reduces, and external appearance is more preferable.Further, since penetration pipe is arranged on foundry goods joint
Outside, provide enough spatial margin so that wiring process is convenient for subsequently carrying out wiring.
Brief description
Fig. 1 is showing of the mounting structure of robot hollow reducer harmonic oscillator that the specific embodiment of the invention proposes
It is intended to.
In figure：
1st, motor；2nd, gear shaft；3rd, spur gear；4th, wave producer；5th, adpting flange；6th, hollow reducer；7th, joint casting
Part；8th, the first sealing ring；9th, penetration pipe；10th, clutch shaft bearing；11st, the second sealing ring；12nd, second bearing；13rd, 3rd bearing.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
As shown in figure 1, being a kind of robot hollow reducer harmonic oscillator mounting structure that the present embodiment proposes, including
Penetration pipe 9 and joint foundry goods 7, joint foundry goods 7 offers the installing hole for passing through for penetration pipe 9.One end of penetration pipe 9 wears
In cavity within joint foundry goods 7 and fixing, the other end of penetration pipe 9 reaches the outer of joint foundry goods 7 through joint foundry goods 7
Portion forms installation portion.Wherein, one end that penetration pipe 9 is located in joint foundry goods 7 has to the installing plate extending around, penetration pipe 9
It is fixed on joint foundry goods 7 it is preferred that being fixed to installing plate from sunk screw or dormant bolt by installing plate.
It is located on the installation portion outside joint foundry goods 7 in penetration pipe 9 and is provided with wave producer 4, wave producer 4 is using inversion
The mode installed is sleeved on the outside of the installation portion of penetration pipe 9.As one kind more specifically embodiment, close on penetration pipe 9
One end of installing plate has the locating surface for being positioned, and wave producer 4 is sleeved on penetration pipe 9 by installing rack and locating surface
Installation portion outside.In order to ensure wave producer 4 use during reliability, between installing rack and wave producer 4 pacify
Equipped with second bearing 12.It is disposed with clutch shaft bearing 10 between one end that penetration pipe 9 is arranged in joint foundry goods 7 and installing rack
With the second sealing ring 11.The left side of wherein clutch shaft bearing 10 is close on the side of the installing plate of penetration pipe 9, and clutch shaft bearing 10 is right
The penetration pipe 9 of side is provided with a step surface from top to bottom, and one end of the second sealing ring 11 is resisted against and is positioned on step surface.
As further embodiment, wave producer 4 is matched with hollow reducer 6, the end peace of wave producer 4
Equipped with spur gear 3, spur gear 3 is matched with motor 1.The drive end of motor 1 installs sprocket drive spindle 2, and gear shaft 2 is arranged at connection
In flange 5, gear shaft 2 is meshed with spur gear 3 it is preferred that passing through sunk screw or heavy between spur gear 3 and wave producer 4
Hook bolt is fixed together.In order to ensure the aesthetic property of outside, motor 1 and gear shaft 2 under being connected with joint foundry goods 7
In one joint.
There is in hollow reducer 6 flexbile gear and firm wheel, flexbile gear is fixed together with joint foundry goods 7, preferably through screw
It is fixed.Equipped with adpting flange 5, adpting flange 5 is fixed together the outer cover of wave producer 4 with firm wheel, also by screw
Or bolt is fixed together.
In order to ensure to ensure that relative motion between adpting flange 5 and wave producer 4, adpting flange 5 is occurred with ripple
It is provided with 3rd bearing 13 between device 4, between the installation portion of adpting flange 5 and penetration pipe 9, be provided with the first sealing ring 8.
Mounting structure in the application, in the case of not affecting gear ratio, effectively make use of adjacent with foundry goods joint
The space in next joint, effectively reduces the size in foundry goods joint.The structure of the inverted structure in the application is simple, processing
Convenient, low production cost；Due to part-structure being arranged in next joint adjacent with foundry goods joint so that foundry goods joint
Size reduces, and external appearance is more preferable.Further, since penetration pipe to be arranged on the outside in foundry goods joint, for subsequently carrying out wiring
Provide enough spatial margin so that wiring process is convenient.
Describe the know-why of the present invention above in association with specific embodiment, these descriptions are intended merely to explain the present invention's
Principle is it is impossible to be construed to limiting the scope of the invention by any way.It is based on and explain herein, those skilled in the art
Do not need to pay other specific embodiments that performing creative labour can associate the present invention, these modes fall within this
Within bright protection domain.
Claims (1)
1. a kind of robot hollow reducer harmonic oscillator mounting structure, including penetration pipe (9) and joint foundry goods (7), it is special
Levy and be：One end of described penetration pipe (9) is arranged in the internal cavity in described joint foundry goods (7) and fixing, described penetration pipe
(9) the other end reaches the outside of described joint foundry goods (7) through described joint foundry goods (7) and forms installation portion；
Wave producer (4) is sleeved on the outside of the installation portion of described penetration pipe (9) by the way of reverse mounted, and described ripple occurs
Device (4) is matched with hollow reducer (6)；
The end of described wave producer (4) is provided with spur gear (3), and described spur gear (3) is matched with motor (1)；
The outer cover of described wave producer (4) subtracts with being arranged at described hollow equipped with adpting flange (5), described adpting flange (5)
Firm wheel in fast machine (6) is fixed together；
Flexbile gear in described hollow reducer (6) is fixed together with described joint foundry goods (7)；
The drive end of described motor (1) installs sprocket drive spindle (2), and described gear shaft (2) is arranged in described adpting flange (5),
Described gear shaft (2) is meshed with described spur gear (3)；
It is provided with bearing between described adpting flange (5) and wave producer (4)；
It is provided with sealing ring between described adpting flange (5) and the installation portion of penetration pipe (9)；
Described wave producer (4) pass through installing rack and be arranged at described penetration pipe (9) outer surface locating surface be sleeved on described in wear
The outside of the installation portion of spool (9)；
It is provided with bearing between described installing rack and wave producer (4)；
It is disposed with bearing between one end that described penetration pipe (9) is arranged in described joint foundry goods (7) and described installing rack
And sealing ring；
Described motor (1) is located in next joint being connected with described joint foundry goods (7) with gear shaft (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510062166.0A CN104608144B (en) | 2015-02-05 | 2015-02-05 | Robot cavity speed reducer harmonic generator mounting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510062166.0A CN104608144B (en) | 2015-02-05 | 2015-02-05 | Robot cavity speed reducer harmonic generator mounting structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104608144A CN104608144A (en) | 2015-05-13 |
| CN104608144B true CN104608144B (en) | 2017-02-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510062166.0A Active CN104608144B (en) | 2015-02-05 | 2015-02-05 | Robot cavity speed reducer harmonic generator mounting structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN104608144B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426147A (en) * | 2016-09-05 | 2017-02-22 | 珠海格力智能装备有限公司 | Speed reducer subassembly and have its robot |
| CN106584515A (en) * | 2017-02-21 | 2017-04-26 | 广东顺德天太机器人技术有限公司 | Pipeline abrasion preventing mechanism and manipulator thereof |
| CN108262743A (en) * | 2018-03-01 | 2018-07-10 | 芜湖市海联机械设备有限公司 | A kind of special harmonic wave speed reducing machine of robot |
| CN108436966A (en) * | 2018-03-20 | 2018-08-24 | 厦门宏发工业机器人有限公司 | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot |
| CN109483592B (en) * | 2018-10-25 | 2022-04-29 | 深圳市汇川技术股份有限公司 | Wiring device and robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06193663A (en) * | 1992-12-21 | 1994-07-15 | Daihen Corp | Power transmission device |
| CN101116974A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Crown gear train type spacing mechanical arm modularization joint |
| CN101116973A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm parallel modularization joint |
| EP2040635A1 (en) * | 2006-06-14 | 2009-04-01 | MacDonald Dettwiler & Associates Inc. | Surgical manipulator with right-angle pulley drive mechanisms |
| CN204604353U (en) * | 2015-02-05 | 2015-09-02 | 珠海格力电器股份有限公司 | Robot cavity speed reducer harmonic generator mounting structure |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3775731D1 (en) * | 1986-11-24 | 1992-02-13 | Christian Salesse | MOTION TRANSFORMER, ESPECIALLY REDUCTION GEARBOX. |
| CN2442031Y (en) * | 2000-08-16 | 2001-08-08 | 张协和 | Upside-down mounted low noise cooling tower speed reducer |
| CN101518904A (en) * | 2009-04-03 | 2009-09-02 | 北京理工大学 | Vertical shaft system of industrial robot |
| JP5462064B2 (en) * | 2010-04-28 | 2014-04-02 | 日本電産サンキョー株式会社 | Industrial robot |
| CN203146711U (en) * | 2013-04-01 | 2013-08-21 | 高学才 | Mechanical torque transmission joint with harmonic speed reducer and cross auxiliary bearing combined |
| CN203542613U (en) * | 2013-10-17 | 2014-04-16 | 宁波海天驱动有限公司 | Servo side posture device |
-
2015
- 2015-02-05 CN CN201510062166.0A patent/CN104608144B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06193663A (en) * | 1992-12-21 | 1994-07-15 | Daihen Corp | Power transmission device |
| EP2040635A1 (en) * | 2006-06-14 | 2009-04-01 | MacDonald Dettwiler & Associates Inc. | Surgical manipulator with right-angle pulley drive mechanisms |
| CN101116974A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Crown gear train type spacing mechanical arm modularization joint |
| CN101116973A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm parallel modularization joint |
| CN204604353U (en) * | 2015-02-05 | 2015-09-02 | 珠海格力电器股份有限公司 | Robot cavity speed reducer harmonic generator mounting structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104608144A (en) | 2015-05-13 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20151208 Address after: 519070 Gree Electric Appliances,Inc.of Zhuhai, Jinji West Road, Qianshan, Zhuhai City, Guangdong Province Applicant after: GREE ELECTRIC APPLIANCES,Inc.OF ZHUHAI Applicant after: ZHUHAI GREE INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 519070 Gree Electric Appliances,Inc.of Zhuhai, Jinji West Road, Qianshan, Zhuhai City, Guangdong Province Applicant before: GREE ELECTRIC APPLIANCES,Inc.OF ZHUHAI |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |