CN106895082A - A kind of robot, rotary joint attachment structure and its rotary support mechanism - Google Patents
A kind of robot, rotary joint attachment structure and its rotary support mechanism Download PDFInfo
- Publication number
- CN106895082A CN106895082A CN201510975683.7A CN201510975683A CN106895082A CN 106895082 A CN106895082 A CN 106895082A CN 201510975683 A CN201510975683 A CN 201510975683A CN 106895082 A CN106895082 A CN 106895082A
- Authority
- CN
- China
- Prior art keywords
- joint
- rotary
- bearing
- support mechanism
- attachment structure
- 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.)
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
- F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/44—Needle bearings
- F16C19/46—Needle bearings with one row or needles
- F16C19/466—Needle bearings with one row or needles comprising needle rollers and an outer ring, i.e. subunit without inner ring
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/72—Sealings
- F16C33/76—Sealings of ball or roller bearings
- F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
- F16C33/7803—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members suited for particular types of rolling bearings
- F16C33/7809—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members suited for particular types of rolling bearings for needle roller bearings
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/72—Sealings
- F16C33/76—Sealings of ball or roller bearings
- F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
- F16C33/7816—Details of the sealing or parts thereof, e.g. geometry, material
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention discloses a kind of rotary support mechanism, for the oversized situation of existing angular contact ball bearing, current needle-type structure is changed to；And the structure is different from common needle bearing structure, it has no bearing inner race, but by outer ring, needle roller and the support of bearing are constituted, this structure is on original needle bearing architecture basics, bearing inner race is substituted for the support of bearing of customization, then fitted seal circle carries out oil sealing, the thickness of the sealing ring is 3-10 millimeters.Optimization intra articular space that can be bigger using this structure, and with good interchangeability, the maintenance of robot and wiring is become more conveniently and quickly.Present invention also offers a kind of rotary joint attachment structure and robot for applying above-mentioned rotary support mechanism, in the case where force request is ensured, intra articular cabling space is saved, with easy to maintenance, the characteristics of cost-effective.
Description
Technical field
The present invention relates to robot joint structure technical field, more particularly to a kind of robot, rotary joint
Attachment structure and its rotary support mechanism.
Background technology
Because angular contact bearing can bear radial load, and with good running accuracy；Therefore, at present
Angular contact ball bearing structure is generally used at robot rotary articulation.
But this structure generally needs to take larger space, due to being limited by local space, when safeguarding
Seem extremely inconvenience, and it is also proposed high requirement to follow-up cabling.
Therefore, for above-mentioned situation, the space hold of rotatable support structure how is reduced, as this area
Technical staff's important technological problems urgently to be resolved hurrily.
The content of the invention
In view of this, the invention provides a kind of rotary support mechanism, improve causes because space is narrow
Installation, dismounting, cabling difficult the problems such as.
Present invention also offers a kind of rotary joint attachment structure of the above-mentioned rotary support mechanism of application.
Present invention also offers a kind of robot of the above-mentioned rotary joint attachment structure of application.
To achieve the above object, the present invention provides following technical scheme：
A kind of rotary support mechanism, including needle roller mechanism and sealing ring, the thickness of the sealing ring is 3-10
Millimeter；
The needle roller mechanism is made up of bearing outer ring, needle roller and the support of bearing；The needle roller is arranged on institute
State the inner peripheral surface of bearing outer ring；
The inwall of the support of bearing is periphery, outer wall include vertically first paragraph that external diameter increases successively,
Second segment and the 3rd section；The bearing outer ring and the needle roller are arranged on the first paragraph, the sealing
Circle is arranged on and oil sealing is carried out on the second segment, and the described 3rd section end face near the second segment is used for same
The sealing ring axial limiting.
Preferably, the axial dimension of the axial dimension of the bearing outer ring and the first paragraph is equal.
Preferably, the axial dimension of the axial dimension of the sealing ring and the second segment is equal.
A kind of rotary joint attachment structure, including motor, reductor, line installed in two joint junction
The rotary support mechanism of cable fixed mount and the motor, the rotary support mechanism is above-mentioned rotation support
Mechanism.
A kind of robot, including multiple rotary joints, are provided with rotation between rotary joint described at least two
Turn joint linkage structure, the rotary joint attachment structure is above-mentioned rotary joint attachment structure.
Preferably, including the 3rd joint, second joint and the 4th joint；One end peace in the 3rd joint
In the second joint, the other end in the 3rd joint is connected with the 4th joint, this two
Individual joint junction is provided with the rotary joint attachment structure.
It can be seen from above-mentioned technical scheme that, the rotary support mechanism that the present invention is provided, with prior art
In angular contact ball bearing compare, it is necessary to take space (being mainly reflected in radial space) it is much smaller,
Optimization intra articular space that can be bigger using this structure, and with good interchangeability, make machine
The maintenance and wiring of people become more conveniently and quickly.Present invention also offers one kind above-mentioned rotation branch of application
The rotary joint attachment structure and robot of support mechanism, in the case where force request is ensured, save joint
Internal cabling space, with easy to maintenance, the characteristics of cost-effective.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to reality
The accompanying drawing to be used needed for example or description of the prior art is applied to be briefly described, it should be apparent that, below
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of rotary joint attachment structure provided in an embodiment of the present invention；
Fig. 2 is the partial enlarged view of a-quadrant in Fig. 1；
Fig. 3 is the configuration schematic diagram of rotary support mechanism provided in an embodiment of the present invention；
Fig. 4 is the assembling structure schematic diagram of rotary support mechanism provided in an embodiment of the present invention.
Wherein, 1 is the 3rd joint；2 is second joint；3 is the 4th joint；4 is motor；5 is deceleration
Machine；6 is needle roller mechanism, and 61 is needle roller bearing without inner ring, and 611 is bearing outer ring, and 612 is needle roller, 62
It is the support of bearing；7 is cable fixed mount；8 is sealing ring；9 is motor flange.
Specific embodiment
The invention discloses a kind of robot, rotary joint attachment structure and its rotary support mechanism, improve
Due to space it is narrow caused by install, dismounting, difficult cabling the problems such as.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under the premise of creative work, belong to the scope of protection of the invention.
Fig. 1-Fig. 4 is referred to, Fig. 1 is that the structure of rotary joint attachment structure provided in an embodiment of the present invention is shown
It is intended to；Fig. 2 is the partial enlarged view of a-quadrant in Fig. 1；Fig. 3 is rotation provided in an embodiment of the present invention
Turn the configuration schematic diagram of supporting mechanism；Fig. 4 is rotary support mechanism provided in an embodiment of the present invention
Assembling structure schematic diagram.
Rotary support mechanism provided in an embodiment of the present invention, its core improvement is, including needle roller mechanism 6
With sealing ring 8, the thickness of the sealing ring is 3-10 millimeters, is a kind of needle roller suitable for rotary joint
Formula structure；Can realize preferably sealing.
Wherein, needle roller mechanism 6 is made up of bearing outer ring 611, needle roller 612 and the support of bearing 62；Rolling
Pin 612 is arranged on the inner peripheral surface of bearing outer ring 611, and its structure is as shown in Figure 3；
The inwall of the support of bearing 62 is periphery, outer wall include vertically first paragraph that external diameter increases successively,
Second segment and the 3rd section；First paragraph and second segment outer wall are periphery；Bearing outer ring 611 and needle roller 612
On first paragraph；One end of specific bearing outer ring 611 is against the ring between first paragraph and second segment
On shape step surface, the other end of bearing outer ring 611 can be spacing by modes such as back-up rings, to realize to it
Axial restraint；Sealing ring 8 is arranged on second segment and carries out oil sealing, the 3rd section of end face near second segment
For the axial limiting of same sealing ring 8.
Because the angular contact ball bearing for using before is oversized, in hookup wire cable herein, operating space
It is very narrow.Therefore, needle-type structure is changed in this programme.The structure and common needle bearing knot
Structure is different, and it has no bearing inner race, but by bearing outer ring 611, needle roller 612 and the support of bearing 62
Composition, as shown in Figure 3 and Figure 4.This structure is on original needle bearing architecture basics, by bearing
Inner ring is substituted for the support of bearing of customization, then fitted seal circle carries out oil sealing.
It can be seen from above-mentioned technical scheme that, rotary support mechanism provided in an embodiment of the present invention is and existing
There is the angular contact ball bearing in technology to compare, it is necessary to the space (being mainly reflected in radial space) for taking will
It is much smaller, optimization intra articular space that can be bigger using this structure, and with good interchangeability,
The maintenance of robot and wiring is set to become more conveniently and quickly.
Preferably, needle roller 612 can be arranged in outer ring 611 by retainer.
Interior rolling surface of the outer circumference surface of first paragraph directly as needle bearing.On further optimizing
Both the technical scheme stated, the axial dimension of bearing outer ring 611 and the axial dimension of first paragraph are equal, i.e.,
It is wide, it is ensured that to roll being fully contacted for cooperation.
Similar, the axial dimension of sealing ring 8 and the axial dimension of second segment are equal.3rd section near the
Two sections of end face offsets with an end face of sealing ring 8 and fixes, another end of sealing ring 8
Face props up needle roller bearing without inner ring 61 and carries out oil sealing.In the specific embodiment that this programme is provided, the 3rd section
End face away from second segment can offset and fix with the inwall in the 3rd joint 1, or the 3rd section
(annular groove such as is set by the 3rd section of outer peripheral face with the inwall snap fit in the 3rd joint 1
Or bulge-structure).The axial dimension of second segment can also be more than sealing ring 8 axial dimension, and by
Spacing fixation of the fastener of wedge shape to sealing ring 8 axially and radially.
Present invention also offers a kind of rotary joint attachment structure, including installed in the electricity of two joint junction
The rotary support mechanism of machine 4, reductor 5, cable fixed mount 7 and motor 4, its core improvement is,
Rotary support mechanism is rotary support mechanism described above.Original angular contact ball bearing is improved to needle roller
Formula structure, in the case where force request is ensured, saves intra articular cabling space, with easy to maintenance,
Cost-effective the characteristics of.
Present invention also offers a kind of robot, including multiple rotary joints, at least two rotary joints it
Between be provided with rotary joint attachment structure, its core improvement is, rotary joint attachment structure is above-mentioned
Rotary joint attachment structure, improve due to space it is narrow caused by installation, dismounting, cabling difficulty etc.
Problem.
In the specific embodiment that this programme is provided, robot includes the 3rd joint 1, second joint 2 and the
Four joints 3 (above-mentioned joint is casting herein)；Wherein, the one end in the 3rd joint 2 is arranged on second
In joint 2, the other end in the 3rd joint 2 is connected with the 4th joint 3, is set in the two joint junctions
It is equipped with above-mentioned rotary joint attachment structure, the i.e. rotary support mechanism of needle-type structure.
By taking two, three joints as an example, motor 4, reductor 5, needle roller mechanism are installed in two joint junction
6th, cable fixed mount 7 and sealing ring 8.As shown in figure 1, in the left end of joint connecting portion, reductor
5 are connected by motor flange 9 with motor 4, and the upper end of motor 4 is provided with the cable fixed mount that fixation controls line
7, the right-hand member of connecting portion in joint, the needle roller structure after as improving.
In sum, rotary support mechanism provided in an embodiment of the present invention, for existing angular contact ball axle
Oversized situation is held, current needle-type structure is changed to；And the structure and common needle bearing knot
Structure is different, and it has no bearing inner race, but is made up of outer ring, needle roller and the support of bearing, and this structure is
On original needle bearing architecture basics, bearing inner race is substituted for the support of bearing of customization, then coordinate
Sealing ring carries out oil sealing.Optimization intra articular space that can be bigger using this structure, and with good
Interchangeability, the maintenance of robot and wiring is become more conveniently and quickly.Present invention also offers one
The rotary joint attachment structure and robot of the above-mentioned rotary support mechanism of application are planted, is ensureing force request
In the case of, intra articular cabling space is saved, with easy to maintenance, the characteristics of cost-effective.
Each embodiment is described by the way of progressive in this specification, and each embodiment is stressed
The difference with other embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use
The present invention.Various modifications to these embodiments will be for those skilled in the art aobvious and easy
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein,
And it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (6)
1. a kind of rotary support mechanism, it is characterised in that including needle roller mechanism (6) and sealing ring (8)；
The needle roller mechanism (6) is by bearing outer ring (611), needle roller (612) and the support of bearing (62)
Composition；Inner peripheral surface of the needle roller (612) installed in the bearing outer ring (611)；
The inwall of the support of bearing (62) is periphery, and outer wall increases successively including external diameter vertically
First paragraph, second segment and the 3rd section；The bearing outer ring (611) and the needle roller (612) are arranged on
On the first paragraph, the sealing ring (8) carries out oil sealing, described 3rd section on the second segment
End face near the second segment is used for the sealing ring (8) axial limiting, the thickness of the sealing ring
It is 3-10 millimeters.
2. rotary support mechanism according to claim 1, it is characterised in that the bearing outer ring (611)
Axial dimension and the first paragraph axial dimension it is equal.
3. rotary support mechanism according to claim 1 and 2, it is characterised in that the sealing ring
(8) axial dimension and the axial dimension of the second segment is equal.
4. a kind of rotary joint attachment structure, including motor (4) installed in two joint junction, subtract
The rotary support mechanism of fast machine (5), cable fixed mount (7) and the motor (4), it is characterised in that
The rotary support mechanism is the rotary support mechanism as described in claim 1-3 any one.
5. a kind of robot, including multiple rotary joints, is provided between rotary joint described at least two
Rotary joint attachment structure, it is characterised in that the rotary joint attachment structure is such as claim 4 institute
The rotary joint attachment structure stated.
6. robot according to claim 5, it is characterised in that including the 3rd joint (1),
Second joint (2) and the 4th joint (3)；One end of 3rd joint (2) is arranged on described second
In joint (2), the other end of the 3rd joint (2) is connected with the 4th joint (3), at this
Two joints junction is provided with the rotary joint attachment structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510975683.7A CN106895082A (en) | 2015-12-21 | 2015-12-21 | A kind of robot, rotary joint attachment structure and its rotary support mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510975683.7A CN106895082A (en) | 2015-12-21 | 2015-12-21 | A kind of robot, rotary joint attachment structure and its rotary support mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106895082A true CN106895082A (en) | 2017-06-27 |
Family
ID=59190815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510975683.7A Withdrawn CN106895082A (en) | 2015-12-21 | 2015-12-21 | A kind of robot, rotary joint attachment structure and its rotary support mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106895082A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459151A (en) * | 2021-06-29 | 2021-10-01 | 广东电网有限责任公司广州供电局 | Steering wheel connector and robot |
| CN113942035A (en) * | 2021-10-27 | 2022-01-18 | 珠海格力智能装备有限公司 | Joint assembly and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203441969U (en) * | 2013-09-03 | 2014-02-19 | 常州机电职业技术学院 | Special bearing high-rigidity supporting and towing mechanism for ball screw |
| CN203717640U (en) * | 2014-03-09 | 2014-07-16 | 启东锦桥轴承有限公司 | Low-noise needle bearing for automobile steering knuckle |
| JP2014149033A (en) * | 2013-02-01 | 2014-08-21 | Nsk Ltd | Shell-shaped needle bearing |
| CN203835964U (en) * | 2014-04-24 | 2014-09-17 | 温州静音轴承有限公司 | Novel quill bearing |
| CN204403165U (en) * | 2015-01-20 | 2015-06-17 | 常州市前峰汽车附件有限公司 | Air throttle of car stainless steel drawn cup needle roller bearing |
| CN204419851U (en) * | 2014-12-03 | 2015-06-24 | 新昌县精艺轴承有限公司 | A kind of combination bearing |
| CN204458822U (en) * | 2015-02-05 | 2015-07-08 | 珠海格力电器股份有限公司 | A kind of robot, rotary joint linkage structure and rotary support mechanism thereof |
-
2015
- 2015-12-21 CN CN201510975683.7A patent/CN106895082A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014149033A (en) * | 2013-02-01 | 2014-08-21 | Nsk Ltd | Shell-shaped needle bearing |
| CN203441969U (en) * | 2013-09-03 | 2014-02-19 | 常州机电职业技术学院 | Special bearing high-rigidity supporting and towing mechanism for ball screw |
| CN203717640U (en) * | 2014-03-09 | 2014-07-16 | 启东锦桥轴承有限公司 | Low-noise needle bearing for automobile steering knuckle |
| CN203835964U (en) * | 2014-04-24 | 2014-09-17 | 温州静音轴承有限公司 | Novel quill bearing |
| CN204419851U (en) * | 2014-12-03 | 2015-06-24 | 新昌县精艺轴承有限公司 | A kind of combination bearing |
| CN204403165U (en) * | 2015-01-20 | 2015-06-17 | 常州市前峰汽车附件有限公司 | Air throttle of car stainless steel drawn cup needle roller bearing |
| CN204458822U (en) * | 2015-02-05 | 2015-07-08 | 珠海格力电器股份有限公司 | A kind of robot, rotary joint linkage structure and rotary support mechanism thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459151A (en) * | 2021-06-29 | 2021-10-01 | 广东电网有限责任公司广州供电局 | Steering wheel connector and robot |
| CN113459151B (en) * | 2021-06-29 | 2023-01-20 | 广东电网有限责任公司广州供电局 | Steering wheel connector and robot |
| CN113942035A (en) * | 2021-10-27 | 2022-01-18 | 珠海格力智能装备有限公司 | Joint assembly and robot |
| CN113942035B (en) * | 2021-10-27 | 2023-07-14 | 珠海格力智能装备有限公司 | Joint assembly and robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170627 |