CN104913025A - Transmission shaft structure for industrial robot - Google Patents
Transmission shaft structure for industrial robot Download PDFInfo
- Publication number
- CN104913025A CN104913025A CN201510318534.3A CN201510318534A CN104913025A CN 104913025 A CN104913025 A CN 104913025A CN 201510318534 A CN201510318534 A CN 201510318534A CN 104913025 A CN104913025 A CN 104913025A
- Authority
- CN
- China
- Prior art keywords
- pivoting support
- fixedly connected
- rotating bearing
- speed reducer
- transmission shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0018—Shaft assemblies for gearings
- F16H57/0031—Shaft assemblies for gearings with gearing elements rotatable supported on the shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/025—Support of gearboxes, e.g. torque arms, or attachment to other devices
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial equipment, in particular to a transmission shaft structure for an industrial robot. The transmission shaft structure comprises a base, a rotating bearing, a rotary table, a servo motor and a hollow speed reducer. The rotating bearing comprises a rotating bearing inner ring and a rotating bearing outer ring, a rotating shaft of the hollow speed reducer is arranged in the vertical direction, the top of the rotating shaft is fixedly connected with a rotating shaft connecting flange, and a casing of the hollow speed reducer is fixedly connected to the bottom of the rotating bearing inner ring. The rotary table, the rotating shaft connecting flange and the rotating bearing outer ring are fixedly connected from top to bottom. The rotating bearing inner ring of the rotating bearing is fixedly connected with the top of the base. According to the structure, a transmission shaft mode of offsetting overturning moment through the rotating bearing is adopted, the hollow speed reducer and the rotating bearing simultaneously support the rotary table, and the overall stress structure is improved. The hollow speed reducer directly drives the rotary table, the positioning is accurate; the hollow speed reducer and the motor and the like are installed in the base after being installed with the rotating bearing together and can be installed and dismantled conveniently.
Description
Technical field
The present invention relates to industrial equipment technical field, particularly a kind of transmission shaft structure of industrial robot.
Background technique
Now because labor cost improves the demand with automatic production, robot application in the industrial production constantly increases, especially in the carrying and stacking of workpiece.But multi-axle heavy type robot but also popularizes far away, just there is certain design deficiency at the first turning axle of robot in a crucial reason at present.The common form one of present first turning axle directly uses speed reducer as turning axle, although such method precision is high, but speed reducer will carry whole tilting moments of robot when robots arm's body protracts, the Grasping skill of robot can be limited to the resistance to capsizing of speed reducer; The another kind of structure of the first turning axle is the output terminal connection pivoting support of speed reducer, again by the form of pivoting support drive machines people traverse platform, this method tilting moment is directly carried on pivoting support, reduce the requirement of the resistance to tipping moment to speed reducer, but the rotation of this mode speed reducer will be delivered to traverse platform by pivoting support, reduce the positioning precision of transmission shaft, and such mode can allow the structure of transmission shaft become more install loaded down with trivial details.
Summary of the invention
The present invention will solve as above problem exactly, a kind of transmission shaft structure of industrial robot of innovation structure is provided, this structure adopts hollow design, facilitate line arrangement, and the drive shaft type of tilting moment is offset by pivoting support, allow speed reducer and pivoting support bearing and turning platform simultaneously, improve overall force structure; Speed reducer Direct driver traverse platform, accurate positioning; Speed reducer, reinstalls base, easy installation and removal after what motor etc. were whole install with pivoting support together.
For solving the problems of the technologies described above, the present invention realizes as follows: the transmission shaft structure of a kind of industrial robot of the present invention comprises base, pivoting support, traverse platform, actuating motor and hollow reducer; Described pivoting support comprises pivoting support inner ring and pivoting support outer ring; The turning axle vertical direction of described hollow reducer is arranged, and the top of turning axle is fixedly connected with turning axle adpting flange, and the housing of hollow reducer is fixedly connected on the bottom of pivoting support inner ring; Described traverse platform, turning axle adpting flange and pivoting support outer ring are from top to bottom fixedly connected with; The pivoting support inner ring of described pivoting support is fixedly connected with the top of base.
The housing of described actuating motor is fixedly connected with the housing of hollow reducer by motor mount; The pto＝power take-off of described actuating motor and the power intake of hollow reducer form and are in transmission connection.
Good effect of the present invention: the transmission shaft structure of a kind of industrial robot of the present invention, by the support arm body weight of robot while of pivoting support and hollow reducer, improves the support force of transmission shaft while the repetitive positioning accuracy not affecting robot.Base of the present invention is welded by metal sheet, and actuating motor and hollow reducer are all contained in base, and actuating motor and hollow reducer are fixed on the pivoting support inner ring of pivoting support, and structure is simple, convenient overall dismounting; The turning axle of hollow reducer by turning axle adpting flange directly and traverse platform and revolving support outer ring fix, do not introduce other errors between hollow reducer and traverse platform, positioning precision is higher; When load is larger, the pivoting support of far-end can bear excessive load, and hollow reducer can be worked in safety range.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is structural representation of the present invention
Fig. 2 is structural representation of the present invention
Fig. 3 is structural representation of the present invention
In figure, 1 base 2 pivoting support inner ring 3 pivoting support outer ring 4 traverse platform 5 turning axle adpting flange 6 hollow reducer 7 motor mount 8 actuating motor 9 turning axle 10 pivoting support.
Embodiment
As shown in Figure 1 to Figure 3, as special embodiment, the transmission shaft structure of a kind of industrial robot of the present invention comprises base (1), pivoting support (10), traverse platform (4), actuating motor (8) and hollow reducer (6); Described pivoting support (10) comprises pivoting support inner ring (2) and pivoting support outer ring (3); Turning axle (9) vertical direction of described hollow reducer (6) is arranged, and the top of turning axle (9) is fixedly connected with turning axle adpting flange (5), and the housing of hollow reducer (6) is fixedly connected on the bottom of pivoting support inner ring (2); Described traverse platform (4), turning axle adpting flange (5) and pivoting support outer ring (3) are from top to bottom fixedly connected with; The pivoting support inner ring (2) of described pivoting support (10) is fixedly connected with the top of base (1).
The housing of described actuating motor (8) is fixedly connected with by the housing of motor mount (7) with hollow reducer (6); The pto＝power take-off of described actuating motor (8) and the power intake of hollow reducer (6) form and are in transmission connection.
The transmission shaft structure of a kind of industrial robot of the present invention, hollow reducer (6), pivoting support inner ring (2) and base (1) three fix, actuating motor (8) drives hollow reducer (6) work, and the turning axle (9) of hollow reducer (6) drives traverse platform (4) and pivoting support outer ring (3) to rotate by turning axle adpting flange (5) simultaneously; Force and moment under this state suffered by traverse platform can be supported by pivoting support (10) and hollow reducer (6) simultaneously, stressing conditions is much better than situation about being supported by pivoting support or hollow reducer separately, and hollow reducer (6) directly drives traverse platform (4), pivoting support (10) need not be passed through drive again, farthest improve the precision of turning axle (5).
Above-described embodiment only represents one embodiment of the present invention, can not be interpreted as limitation of the scope of the invention.It should be noted that one skilled in the relevant art, without departing from the inventive concept of the premise, can also make several deformation design, these all belong to protection scope of the present invention.
Claims (2)
1. a transmission shaft structure for industrial robot, is characterized in that: comprise base, pivoting support, traverse platform, actuating motor and hollow reducer; Described pivoting support comprises pivoting support inner ring and pivoting support outer ring; The turning axle vertical direction of described hollow reducer is arranged, and the top of turning axle is fixedly connected with turning axle adpting flange, and the housing of hollow reducer is fixedly connected on the bottom of pivoting support inner ring; Described traverse platform, turning axle adpting flange and pivoting support outer ring are from top to bottom fixedly connected with; The pivoting support inner ring of described pivoting support is fixedly connected with the top of base.
2. the transmission shaft structure of a kind of industrial robot according to claim 1, is characterized in that: the housing of described actuating motor is fixedly connected with the housing of hollow reducer by motor mount; The pto＝power take-off of described actuating motor and the power intake of hollow reducer form and are in transmission connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510318534.3A CN104913025A (en) | 2015-06-11 | 2015-06-11 | Transmission shaft structure for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510318534.3A CN104913025A (en) | 2015-06-11 | 2015-06-11 | Transmission shaft structure for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104913025A true CN104913025A (en) | 2015-09-16 |
Family
ID=54082355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510318534.3A Pending CN104913025A (en) | 2015-06-11 | 2015-06-11 | Transmission shaft structure for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104913025A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015744A (en) * | 2018-10-17 | 2018-12-18 | 珠海格力智能装备有限公司 | Robot revolute mechanism and robot with it |
| CN112873181A (en) * | 2021-01-22 | 2021-06-01 | 苏州汇川技术有限公司 | Robot and installation method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998006544A1 (en) * | 1996-08-13 | 1998-02-19 | Yasuhito Itagaki | Transfer robot |
| US20090124446A1 (en) * | 2007-11-09 | 2009-05-14 | Nabtesco Corporation | Eccentric oscillating gear mechanism and industrial robot joint construction using the same |
| CN201291188Y (en) * | 2008-10-30 | 2009-08-19 | 北京机械工业自动化研究所 | Rotator for large work-piece surface spray-painting |
| US20130047771A1 (en) * | 2011-08-25 | 2013-02-28 | Hon Hai Precision Industry Co., Ltd. | Robot with cable protection structure |
| CN103341865A (en) * | 2013-07-05 | 2013-10-09 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN203611259U (en) * | 2013-11-26 | 2014-05-28 | 浙江德马科技有限公司 | Union type bearing rotary structure |
| CN103963049A (en) * | 2014-05-21 | 2014-08-06 | 苏州新协力特种工业模板有限公司 | Adjustable mechanical hand device |
| CN204729598U (en) * | 2015-06-11 | 2015-10-28 | 邓莉莉 | A kind of transmission shaft structure of industrial robot |
-
2015
- 2015-06-11 CN CN201510318534.3A patent/CN104913025A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998006544A1 (en) * | 1996-08-13 | 1998-02-19 | Yasuhito Itagaki | Transfer robot |
| US20090124446A1 (en) * | 2007-11-09 | 2009-05-14 | Nabtesco Corporation | Eccentric oscillating gear mechanism and industrial robot joint construction using the same |
| CN201291188Y (en) * | 2008-10-30 | 2009-08-19 | 北京机械工业自动化研究所 | Rotator for large work-piece surface spray-painting |
| US20130047771A1 (en) * | 2011-08-25 | 2013-02-28 | Hon Hai Precision Industry Co., Ltd. | Robot with cable protection structure |
| CN103341865A (en) * | 2013-07-05 | 2013-10-09 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN203611259U (en) * | 2013-11-26 | 2014-05-28 | 浙江德马科技有限公司 | Union type bearing rotary structure |
| CN103963049A (en) * | 2014-05-21 | 2014-08-06 | 苏州新协力特种工业模板有限公司 | Adjustable mechanical hand device |
| CN204729598U (en) * | 2015-06-11 | 2015-10-28 | 邓莉莉 | A kind of transmission shaft structure of industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015744A (en) * | 2018-10-17 | 2018-12-18 | 珠海格力智能装备有限公司 | Robot revolute mechanism and robot with it |
| CN112873181A (en) * | 2021-01-22 | 2021-06-01 | 苏州汇川技术有限公司 | Robot and installation method thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150916 |