CN106142074A - A kind of method for processing and assembling of robot driving device - Google Patents

A kind of method for processing and assembling of robot driving device Download PDF

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Publication number
CN106142074A
CN106142074A CN201610604530.6A CN201610604530A CN106142074A CN 106142074 A CN106142074 A CN 106142074A CN 201610604530 A CN201610604530 A CN 201610604530A CN 106142074 A CN106142074 A CN 106142074A
Authority
CN
China
Prior art keywords
outer shaft
hollow outer
axle
assembling
driving device
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
Application number
CN201610604530.6A
Other languages
Chinese (zh)
Inventor
李应煌
梁娟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liuzhou Funeng Robot Development Co Ltd
Original Assignee
Liuzhou Funeng Robot Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liuzhou Funeng Robot Development Co Ltd filed Critical Liuzhou Funeng Robot Development Co Ltd
Priority to CN201610604530.6A priority Critical patent/CN106142074A/en
Publication of CN106142074A publication Critical patent/CN106142074A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025Harmonic drives

Abstract

The present invention relates to robot driving device, the method for processing and assembling of a kind of robot driving device, its be included axle one end and hollow outer shaft one end elastic conjunction stop tab;Difference process and assemble hole on two driving wheels;One ring spring is set in each pilot hole;Again two driving wheels are separately mounted on described interior outer shaft by pilot hole, and make driving wheel connect with stop tab;Then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end.The present invention uses the mounting means of inside and outside two axles, it is possible to provide two kinds drive power, can change the gear ratio of reductor etc.;Meanwhile, in terms of process and assemble, taken turns by ring spring fixed drive, be conducive to reducing frictional force, it is to avoid damage driving wheel;And axle in two bearings installations, it can be ensured that the axiality of interior outer shaft.

Description

A kind of method for processing and assembling of robot driving device
Technical field
The present invention relates to robot driving device, the method for processing and assembling of a kind of robot driving device.
Background technology
Existing industrial robot mainly divides two big classes: Cartesian robot and prosthetic robot.Rectangular coordinate machine Device people is mainly made up of some linear motion units, driving motor, control system and end-effector etc..This robot can pin To different application, fast and easy is combined into wall-mounted, the cantilevered of different dimension, various stroke and different band loading capability, dragon The Cartesian robot of the various ways such as gate-type or reversely hung Yong.Prosthetic robot is mainly driven by some rotary motion unit Motor, control system and end-effector etc. form.Prosthetic robot can become with Rapid Combination unlike Cartesian robot Different dimensions.For different application, the prosthetic robot of fixing different dimensions can only be selected, such as arc welding robot, remove Fortune robot etc..
In current automatic industrial produces, robot is core, but the certain operations of robot requires speed all Slow, need speed reducer with high transmission ratio transmission, existing robot to be generally adopted by prosthetic robot, its gear reduction Mechanism is to use planet to add cycloid speed reducer or harmonic wave speed reducing machine, owing to the driving means of these reductors uses list mostly mostly Axle and fixing gear train etc. carry out transmission so that the gear ratio of reductor is fixed, and are difficult to meet robot to gear ratio Demand;And these driving means axiality in terms of process and assemble is not high enough.
Summary of the invention
For above-mentioned technical problem, the present invention provides the process and assemble side of the robot driving device that a kind of axiality is higher Method.
The technical solution used in the present invention is: the method for processing and assembling of a kind of robot driving device, and it includes following step Rapid:
(1) in interior axle one end and hollow outer shaft one end elastic conjunction stop tab;
(2) difference process and assemble hole on two driving wheels;
(3) ring spring is set in each pilot hole;
(4) again two driving wheels are separately mounted on described interior outer shaft by pilot hole, and make driving wheel connect with stop tab;
(5) then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end.
As preferably, radially it is machined with annular groove along each described pilot hole hole wall, first described ring spring is arranged at correspondence In annular groove, then driving wheel is arranged on the axle of correspondence by pilot hole.
As preferably, described interior axle is arranged on hollow outer shaft inner chamber by bearing.
As preferably, described hollow outer shaft two ends are machined with receiving space respectively, and each fixedly mounts in accommodating space One described bearing, described interior axle two ends are arranged on hollow outer shaft inner chamber by this two bearings.
As preferably, in installing during axle, first the interior axle other end bearing from one end described in hollow outer shaft is penetrated inner chamber, so After pass from the bearing of the hollow outer shaft other end.
As preferably, first vertically being placed by hollow outer shaft, its described one end is above, then by described in interior axle another End is placed in the bearing centre hole of one end described in hollow outer shaft, and then one end described in internal axle applies downward pressure so that it is another End penetrates inner chamber, then passes from the bearing centre hole of the hollow outer shaft other end.
As preferably, when the interior axle other end passes from the bearing centre hole of the hollow outer shaft other end, to hollow outer shaft another The bearing of end applies pressure from bottom to top.
As preferably, described stop tab includes the axial interstage sleeve with respective shaft interference fit, and interstage sleeve one end has radially extended Catch, described ring spring fixed cover is located on interstage sleeve, and described first driving wheel and the second driving wheel all axially connect with catch.
As preferably, described interstage sleeve perisporium forms axially arranged several double wedges, and each double wedge is radially into ring spring In gap
As can be known from the above technical solutions, the present invention uses the mounting means of inside and outside two axles, it is possible to provide two kinds drive power, can change The gear ratio of reductor etc.;Meanwhile, in terms of process and assemble, taken turns by ring spring fixed drive, be conducive to reducing frictional force, it is to avoid Damage driving wheel;And axle in two bearings installations, it can be ensured that the axiality of interior outer shaft.
Detailed description of the invention
The present invention is described more detail below, and illustrative examples and explanation in this present invention are used for explaining the present invention, But it is not as a limitation of the invention.
The method for processing and assembling of high-performance robot driving device, it comprises the following steps:
(1) in interior axle one end and hollow outer shaft one end elastic conjunction stop tab;Interior outer shaft can be driven respectively by two motors, it is possible to Driven respectively by two different drive mechanisms by a motor;Stop tab can make driving wheel be arranged on the appointment position of axle, Driving wheel is avoided to move axially.
(2) difference process and assemble hole on two driving wheels, can be arranged on driving wheel on the axle of correspondence by pilot hole; Two driving wheels can drive the gear of the different number of teeth, and driving wheel can be also ellipticity, as the wave producer of harmonic speed reducer.Make During for wave producer, can there be axially arranged several rollers in the peripheral distribution of described driving wheel, thus can drive two not Rotate with the flexbile gear of the number of teeth, thus export the power of different drive ratios;It addition, driving wheel also can be as direct geared and other teeth Wheel engagement, the most also can export different drive ratios by the upper different numbers of teeth of different driving wheel as sun gear etc. as driven Power.
(3) ring spring is set in each pilot hole;In implementation process, along each described pilot hole hole wall radially Being machined with annular groove, described ring spring is arranged in the annular groove of correspondence, and driving wheel is fixedly mounted on the axle of correspondence by corresponding ring spring On;So on the one hand, driving wheel can be avoided directly to contact with corresponding axle and damage driving wheel, on the other hand the elastic force of ring spring can Make assembling convenient;Meanwhile, driving wheel and respective shaft even can use the mode of matched in clearance to carry out transmission, it is to avoid Liang Zhejie Touch, wear phenomenon occurs, and once the effect of attrition transmission of axle Yu ring spring, only need to change ring spring, save maintenance and dimension Protect cost.In the present invention, ring spring is the elasticity part with radical elasticity, under the effect of its elastic force, and can be solid by driving wheel It is scheduled on axle, it is ensured that axle drives driving wheel to rotate.
(4) again two driving wheels are separately mounted on described interior outer shaft by pilot hole, and make driving wheel and stop tab Connect;Stop tab includes the axial interstage sleeve with respective shaft interference fit, makes stop tab rotate with axle, and interstage sleeve one end has radially extended Catch, described ring spring fixed cover is located on interstage sleeve, and ring spring can be made directly not contact with axle, it is to avoid damaging ring spring, described first drives Driving wheel and the second driving wheel all axially connect with catch, prevent driving wheel from moving axially;Described interstage sleeve perisporium forms and axially sets The several double wedges put, each double wedge is radially in the gap of ring spring, thus blocks ring spring, so can ensure that ring spring turns along with axle Dynamic.
(5) then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end;As Preferably, described interior axle is arranged on hollow outer shaft inner chamber by bearing;Specifically, described hollow outer shaft two ends are machined with appearance respectively Receiving space, each accommodates one described bearing of fixed installation in space, and described interior axle two ends are arranged on sky by this two bearings Heart outer shaft inner chamber;In installing during axle, first the interior axle other end bearing from one end described in hollow outer shaft is penetrated inner chamber, then from sky The bearing of the heart outer shaft other end passes.As preferably, first vertically being placed by hollow outer shaft, its described one end is above, so After the other end described in interior axle is placed in the bearing centre hole of one end described in hollow outer shaft, then internally one end described in axle applies downwards Pressure so that it is the other end penetrates inner chamber, then passes from the bearing centre hole of the hollow outer shaft other end;The interior axle other end is from hollow When the bearing centre hole of the outer shaft other end passes, the bearing of the hollow outer shaft other end is applied pressure from bottom to top, prevents this axle Hold because of interior axial under pressure disengage it from outer shaft.
In implementation process, the end face of bearing not only can be saved space with outer shaft end face, and keep away in transmission process Exempt to interfere with miscellaneous part;Two ends described in interior axle are arranged in two bearings, the most not only make interior outer shaft can occur relatively and turn Dynamic, it is ensured that interior outer shaft has higher axiality;And it is more firm that interior axle can be made to support, transmission is more steady.The phase of interior outer shaft To motion can use this sample loading mode, when interior axle is rotated by driven by motor, outer shaft can be made not rotate, only by drive wheel outside Pinion rotation, thus export power;When outer shaft is rotated by driven by motor, interior axle can be made not rotate, only another by drive wheel The pinion rotation of the outer different number of teeth, thus output and the power of outer shaft different drive ratios, it is seen that the present invention can realize different transmission The transmission of ratio.
The technical scheme provided the embodiment of the present invention above is described in detail, specific case used herein Principle and embodiment to the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help to understand this The principle of inventive embodiments;Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party All will change in formula and range of application, in sum, this specification content should not be construed as limitation of the present invention.

Claims (9)

1. a method for processing and assembling for robot driving device, it comprises the following steps:
(1) in interior axle one end and hollow outer shaft one end elastic conjunction stop tab;
(2) difference process and assemble hole on two driving wheels;
(3) ring spring is set in each pilot hole;
(4) again two driving wheels are separately mounted on described interior outer shaft by pilot hole, and make driving wheel connect with stop tab;
(5) then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end.
The method for processing and assembling of robot driving device the most according to claim 1, it is characterised in that: along each described assembling Hole hole wall is radially machined with annular groove, is first arranged at by described ring spring in the annular groove of correspondence, then is installed by pilot hole by driving wheel On corresponding axle.
3. the method for processing and assembling of robot driving device as claimed in claim 1, it is characterised in that: described interior axle passes through bearing It is arranged on hollow outer shaft inner chamber.
4. the method for processing and assembling of robot driving device as claimed in claim 3, it is characterised in that: described hollow outer shaft two ends Being machined with receiving space respectively, each accommodates one described bearing of fixed installation in space, described interior axle two ends by this two Bearing is arranged on hollow outer shaft inner chamber.
5. the method for processing and assembling of robot driving device as claimed in claim 4, it is characterised in that: in installing during axle, first will The interior axle other end bearing from one end described in hollow outer shaft penetrates inner chamber, and then the bearing from the hollow outer shaft other end passes.
6. the method for processing and assembling of robot driving device as claimed in claim 5, it is characterised in that: first hollow outer shaft is erected Straight placement, its described one end is above, and then the other end described in interior axle is placed in the bearing centre of one end described in hollow outer shaft Hole, then one end described in internal axle applies downward pressure so that it is the other end penetrates inner chamber, then the axle from the hollow outer shaft other end Hold centre bore to pass.
7. the method for processing and assembling of robot driving device as claimed in claim 6, it is characterised in that: the interior axle other end is from hollow When the bearing centre hole of the outer shaft other end passes, the bearing of the hollow outer shaft other end is applied pressure from bottom to top.
8. the method for processing and assembling of robot driving device as described in any one in claim 1 to 7, it is characterised in that: institute Stating stop tab and include the axial interstage sleeve with respective shaft interference fit, interstage sleeve one end has radially extended catch, described ring spring fixed cover Being located on interstage sleeve, described first driving wheel and the second driving wheel all axially connect with catch.
9. the method for processing and assembling of robot driving device as claimed in claim 8, it is characterised in that: described interstage sleeve perisporium molding Having axially arranged several double wedges, each double wedge is radially in the gap of ring spring.
CN201610604530.6A 2016-07-29 2016-07-29 A kind of method for processing and assembling of robot driving device Pending CN106142074A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610604530.6A CN106142074A (en) 2016-07-29 2016-07-29 A kind of method for processing and assembling of robot driving device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610604530.6A CN106142074A (en) 2016-07-29 2016-07-29 A kind of method for processing and assembling of robot driving device

Publications (1)

Publication Number Publication Date
CN106142074A true CN106142074A (en) 2016-11-23

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Application Number Title Priority Date Filing Date
CN201610604530.6A Pending CN106142074A (en) 2016-07-29 2016-07-29 A kind of method for processing and assembling of robot driving device

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109027191A (en) * 2018-09-25 2018-12-18 山东帅克机械制造股份有限公司 A kind of assembly technology of the hollow high-accuracy reducer arrangement of integration

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB190917801A (en) * 1909-07-31 1909-11-04 Richard Tonge Improvements in Pistons.
EP0822356A1 (en) * 1996-07-31 1998-02-04 Teijin Seiki Company Limited Transmission gear
CN2850122Y (en) * 2005-09-20 2006-12-20 沈阳工业大学 Out-of-phase rotary AC electric machine with internal and external two rotors
JP2009061836A (en) * 2007-09-05 2009-03-26 Nsk Ltd Steering angle variable type steering device
US20110245006A1 (en) * 2010-04-06 2011-10-06 Canon Kabushiki Kaisha Strain wave gearing and robotic arm
CN202629022U (en) * 2012-06-19 2012-12-26 中国重汽集团济南动力有限公司 Novel structure for axially positioning main shaft gear in double-countershaft speed changing box
JP2013194836A (en) * 2012-03-21 2013-09-30 Honda Motor Co Ltd Harmonic drive gearing and walking assisting device
JP2014084989A (en) * 2012-10-26 2014-05-12 Canon Inc Wave gear device, driving apparatus, and robot equipment

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB190917801A (en) * 1909-07-31 1909-11-04 Richard Tonge Improvements in Pistons.
EP0822356A1 (en) * 1996-07-31 1998-02-04 Teijin Seiki Company Limited Transmission gear
CN2850122Y (en) * 2005-09-20 2006-12-20 沈阳工业大学 Out-of-phase rotary AC electric machine with internal and external two rotors
JP2009061836A (en) * 2007-09-05 2009-03-26 Nsk Ltd Steering angle variable type steering device
US20110245006A1 (en) * 2010-04-06 2011-10-06 Canon Kabushiki Kaisha Strain wave gearing and robotic arm
JP2013194836A (en) * 2012-03-21 2013-09-30 Honda Motor Co Ltd Harmonic drive gearing and walking assisting device
CN202629022U (en) * 2012-06-19 2012-12-26 中国重汽集团济南动力有限公司 Novel structure for axially positioning main shaft gear in double-countershaft speed changing box
JP2014084989A (en) * 2012-10-26 2014-05-12 Canon Inc Wave gear device, driving apparatus, and robot equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109027191A (en) * 2018-09-25 2018-12-18 山东帅克机械制造股份有限公司 A kind of assembly technology of the hollow high-accuracy reducer arrangement of integration

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Application publication date: 20161123