CN107650145A - A kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles - Google Patents
A kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles Download PDFInfo
- Publication number
- CN107650145A CN107650145A CN201710984671.XA CN201710984671A CN107650145A CN 107650145 A CN107650145 A CN 107650145A CN 201710984671 A CN201710984671 A CN 201710984671A CN 107650145 A CN107650145 A CN 107650145A
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- China
- Prior art keywords
- rotation
- ring
- retainer
- inner ring
- installing plate
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- Pending
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- 238000009434 installation Methods 0.000 claims abstract description 22
- 238000003825 pressing Methods 0.000 claims abstract description 8
- 210000003734 kidney Anatomy 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 4
- 238000007142 ring opening reaction Methods 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/18—Turning devices for rotatable members, e.g. shafts
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
- F16H57/0415—Air cooling or ventilation; Heat exchangers; Thermal insulations
- F16H57/0416—Air cooling or ventilation
Abstract
A kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles, including retainer ring, retainer ring includes the fixation inner ring being connected by retainer plate and fixed outer shroud, rotating ring is included by rotating the connected rotation inner ring of circle and rotation outer shroud, fixed outer ring opening end is inserted into the rotation slot on rotation outer shroud, fixed inner ring openend is inserted between rotation inner ring and rotation outer shroud, rotation inner ring is provided with bearing inner race mounting groove, fixed inner ring is provided with bearing outer ring mounting groove, bearing one end is inserted into the bearing installation cavity formed by bearing inner race mounting groove and bearing outer ring mounting groove, the bearing other end is fitted in rotation inner ring by pressing plate；Air admission hole is provided with retainer plate, air inlet seat is housed on air admission hole, venthole is provided with rotation circle, outlet base is housed on venthole；Retainer plate is provided with the main installing plate of retainer ring, and rotation circle is provided with roller, anchor ear is housed, anchor ear is provided with shift fork, and roller is installed in shift fork on J4 axle axle bodies.Suitable for robot.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of rotation applied to high-low temperature resistant opening and closing robot J4 axles
Follower.
Background technology
During vehicle production, substantial amounts of robot can be typically used, wherein, some robots are needed in high/low temperature ring
Opening and closing cycle operation is performed under border (such as -20 DEG C~+60 DEG C)., typically can be outside robot body to ensure the performance of robot
One layer of protective clothing is worn, and air handling system (hardware has air-conditioning and tracheae etc.) is installed, by adjusting temperature in protective clothing, to make
Robotic surface temperature (0~+40 DEG C) in its operating temperature range.But problems be present in actual production：
Robot when not wearing protective clothing, its J4 axle can the accessible rotation in the range of 0~360 °, different work can be met
Various track requirements.But if protective clothing is put on, and protective clothing is if J4 axles affixed side and rotary side are segmented, then to prevent
Protective clothing in big angle rotary by torque failure, can only be in very limited amount of angular range internal rotation J4 axles, the property of robot
It is able to not can make full use of, it is often more important that the requirement of various tracks in different work can not be met.
The content of the invention
The invention aims to overcome the shortcomings of above-mentioned background technology, there is provided one kind is applied to high-low temperature resistant opening/closing machine
The rotation follower of device people's J4 axles.
In order to realize the above object a kind of rotation applied to high-low temperature resistant opening and closing robot J4 axles provided by the invention with
Motivation structure, including retainer ring, bearing, rotating ring and pressing plate；Wherein, the retainer ring includes coaxially arranged fixation inner ring and consolidated
Determine outer shroud, one end of the fixed inner ring is sealed by retainer plate one end corresponding with the fixed outer shroud to be connected, the fixation
The other end of inner ring one end corresponding with the fixed outer shroud, which is formed, to be open；The rotating ring includes coaxially arranged rotation inner ring
With rotation outer shroud, one end of the rotation inner ring is connected by rotating circle one end corresponding with the rotation outer shroud and sealing, described
The other end one end corresponding with the rotation outer shroud for rotating inner ring forms opening；
The openend of the retainer ring and the openend of the rotating ring are positioned opposite, the openend of the rotation outer shroud
Outer wall is provided with the rotation slot for being used for inserting the fixed outer shroud, and the openend of the fixed outer shroud is rotationally inserted into institute
State in rotation slot, the openend of the fixed inner ring be rotationally inserted into the rotation inner ring and the rotation outer shroud it
Between, be provided with first seal between the rotation outer shroud and the fixed outer shroud, the fixed inner ring with it is described rotate inner ring it
Between be provided with second seal, the outer wall of the openend of the rotation inner ring, which is provided with, to be used to install in the bearing of the bearing inner race
Mounting groove is enclosed, the position that the bearing inner race mounting groove is corresponded on the inwall of the fixed inner ring is provided with bearing outer ring mounting groove,
One end of the bearing is inserted into the bearing installation cavity formed by the bearing inner race mounting groove and the bearing outer ring mounting groove
Interior, the other end of the bearing is fitted on the openend of the rotation inner ring by the pressing plate；
An air admission hole is at least offered on the retainer plate, the air admission hole is corresponded on the outer surface of the retainer plate
Position is provided with air inlet seat, and two ventholes are at least offered on the rotation circle, are corresponded on the outer surface of the rotation circle
The position of the venthole is at least provided with an outlet base；
The outer surface of the retainer plate is provided with the main installing plate of retainer ring that can be fixedly mounted on J4 axle axle beds, the rotation
The outer surface turn-taked is provided with axially disposed roller, is set with anchor ear on J4 axle axle bodies, the rolling is corresponded on the anchor ear
The position of wheel is provided with radially arranged shift fork, and the roller is installed in the shift fork.
By retainer ring, first seal, second seal and rotary annular into the servo-actuated chamber of rotation, and add in retainer ring
If air inlet seat connect with rotating servo-actuated chamber, added in rotating ring with rotating the outlet base for being servo-actuated chamber and connecting, so, can be by
The retainer ring of this rotation follower is fixedly mounted on J4 axle axle beds, and rotating ring is arranged on J4 axle axle bodies, then will protection
Ginning outturn is into two sections, and one end of first paragraph is fixed on J1 axles, and the other end of first paragraph is fixed in retainer ring by anchor ear, and second
One end of section is fixed on rotating ring by anchor ear, and the other end of second segment is fixed on J6 axles, due to retainer ring and rotating ring it
Between can relatively rotate, so after putting on protective clothing, J4 axles can still rotate freely in the range of 0-360 °, can meet various tracks
Requirement, and while protective clothing is not guaranteed by any torque failure, service life, and cold air can pass through air inlet pipe
Seat, the servo-actuated chamber of rotation and outlet base are passed at J6 axles；Meanwhile by the ventholes opened up on rotation circle, can will be cold. more
Gas is incorporated at J4 axles, and there is cold air cooling at the both ends of the larger J4-J6 axles of such caloric value, so as to effectively to J4-
J6 axles are cooled.
In such scheme, the outer wall of the openend of the rotation outer shroud, which is provided with, to be used to install the first seal
First seal mounting groove, the first seal are arranged in the first seal mounting groove；The rotation inner ring is opened
The outer wall at mouth end is provided with the second seal card holding trough for being used for clamping the second seal, and the second seal is installed on
In the second seal card holding trough.By the way that two seals are all arranged on rotating ring, the assembling of part is so facilitated.
In such scheme, the quantity of the air admission hole is two, circumference of two air admission holes along the retainer plate
Direction is evenly arranged.
In such scheme, the quantity of the venthole is five, circumference of five ventholes along the rotation circle
Direction is evenly arranged, and two in five ventholes are provided with the outlet base.By by three in five ventholes
Individual vacant, such cold air can flow out from three ventholes, and the J4 axle larger to caloric value directly cools down.
In such scheme, the position of a corresponding air inlet seat is provided with and can fixed on the outer surface of the retainer plate
Retainer ring pair installing plate on J4 axle axle beds, the both ends of the retainer ring pair installing plate are respectively provided with installation and adjustment
Secondary installing plate waist round hole.The retainer ring pair installing plate added improves the rigidity of fixation and reliability of this rotation follower.
In such scheme, the retainer ring pair installing plate is the installing plate of L-shaped structure, the retainer ring pair installing plate
The secondary installing plate opening that the air inlet seat passes through can be allowed by being provided with the middle part of one end on the retainer plate, the retainer ring
It is provided with the middle part of the other end of secondary installing plate and is used to prevent the avoidance opening interfered between part.The secondary installing plate opening added
It can not only make the mounting structure of mechanism more compact, save installing space, while the weight of retainer ring pair installing plate can also be reduced
Amount；Meanwhile the avoidance opening added can not only prevent from interfering between part, and retainer ring pair installing plate can also be reduced
Weight.
In such scheme, the main installing plate of retainer ring is the installing plate of L-shaped structure, the main installing plate of retainer ring
One end both sides on the retainer plate are respectively provided with the main installing plate kidney slot of installation and adjustment, the retainer ring master
The other end of installing plate is provided with the main installing plate waist round hole for installation and adjustment.Pass through the main installing plate kidney slot of design and main peace
Loading board waist round hole facilitates the installation site of regulation this rotation follower.
In such scheme, the main installing plate of retainer ring is provided with lightening hole.
In such scheme, the position that the roller is corresponded on the outer surface of the rotation circle is provided with roller mounting seat, institute
Roller is stated to be arranged in the roller mounting seat by installation axle.The maintenance that the roller mounting seat added facilitates roller is changed.
In such scheme, the shift fork is L-shaped structure, and one end of the shift fork is provided with U-shaped shift fork notch, the U-shaped
The radial arrangement of circle is rotated described in fork slot opening's edge, the width of the U-shaped shift fork notch is more than the diameter of the roller, the rolling
It is intraoral that wheel is installed on the U-shaped fork slot, and the roller can be intraoral radially sliding along the rotation circle in the U-shaped fork slot
Dynamic, the other end of the shift fork is arranged on the anchor ear.Cooperation between the U-shaped shift fork notch and roller of design, can be automatic
The fine motion of rotation ring position caused by retainer ring fine position is adapted to, it is same between retainer ring, rotating ring and J4 axles to ensure
Axle degree；Meanwhile by the way that into the diameter slightly larger than roller, the width design of U-shaped shift fork notch can so be reduced into U-shaped shift fork notch
Frictional force between roller.
The present invention is compared with the prior art, and fully shows that it is advantageous in that：
1st, by retainer ring, first seal, second seal and rotary annular into the servo-actuated chamber of rotation, and in retainer ring
The air inlet seat connected with rotating servo-actuated chamber is added, the outlet base connected with rotating servo-actuated chamber is added in rotating ring, so, can
The retainer ring of this rotation follower is fixedly mounted on J4 axle axle beds, rotating ring is arranged on J4 axle axle bodies, then will be protected
Padded equipment is divided into two sections, and one end of first paragraph is fixed on J1 axles, and the other end of first paragraph is fixed in retainer ring by anchor ear, the
Two sections one end is fixed on rotating ring by anchor ear, and the other end of second segment is fixed on J6 axles, due to retainer ring and rotating ring
Between can relatively rotate, so after putting on protective clothing, J4 axles can still rotate freely in the range of 0-360 °, can meet various rails
The requirement of mark, and while protective clothing is not guaranteed by any torque failure, service life, and cold air can pass through air inlet pipe
Seat 1f, the servo-actuated chamber of rotation and outlet base are passed at J6 axles；
2nd, by the venthole opened up on rotation circle, cold air can be incorporated at J4 axles, such caloric value is larger more
There is cold air cooling at the both ends of J4-J6 axles, so as to effectively cool to J4-J6 axles；
3rd, by the way that two seals are all arranged on rotating ring, the assembling of part is so facilitated；
4th, by the way that three in five ventholes are vacant, such cold air can flow out from three ventholes, to hair
The larger J4 axles of heat are directly cooled down；
5th, the retainer ring pair installing plate added improves the rigidity of fixation and reliability of this rotation follower；
6th, the secondary installing plate opening added can not only make the mounting structure of mechanism more compact, save installing space, together
When can also reduce the weight of retainer ring pair installing plate；
7th, the avoidance opening added can not only prevent from interfering between part, and can also reduce retainer ring pair installing plate
Weight；
8th, regulation this rotation follower is facilitated by the main installing plate kidney slot and main installing plate waist round hole of design
Installation site；
9th, the maintenance that the roller mounting seat added facilitates roller is changed；
10th, the cooperation between the U-shaped shift fork notch and roller of design, can be adapted to caused by retainer ring fine position automatically
The fine motion of ring position is rotated, to ensure the axiality between retainer ring, rotating ring and J4 axles；
11st, by the way that into the diameter slightly larger than roller, the width design of U-shaped shift fork notch can so be reduced into U-shaped fork slot
Frictional force between mouth and roller.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is Fig. 1 assembling structure schematic diagram；
Fig. 3 is Fig. 1 configuration schematic diagram；
Fig. 4 is another viewing angle constructions schematic diagram of the present invention；
Fig. 5 is Fig. 4 assembling structure schematic diagram；
Fig. 6 is Fig. 4 configuration schematic diagram；
Fig. 7 is retainer ring and the assembling structure schematic diagram of rotating ring；
Fig. 8 is Fig. 7 another viewing angle constructions schematic diagram；
Fig. 9 is Fig. 7 cross-sectional view；
Figure 10 is the using state structure diagram of the present invention.
In figure：Retainer ring 1, fixed inner ring 1a, fixed outer shroud 1b, retainer plate 1c, bearing outer ring mounting groove 1d, air admission hole
1e, air inlet seat 1f, bearing 2, rotating ring 3, inner ring 3a is rotated, rotate outer shroud 3b, rotation circle 3c, slot 3d is rotated, in bearing
Circle mounting groove 3e, venthole 3f, outlet base 3g, pressing plate 4, first seal 5, second seal 6, the main installing plate 7 of retainer ring,
Main installing plate kidney slot 7a, main installing plate waist round hole 7b, lightening hole 7c, roller 8, anchor ear 9, shift fork 10, U-shaped shift fork notch 10a,
Retainer ring pair installing plate 11, secondary installing plate waist round hole 11a, secondary installing plate opening 11b, avoidance opening 11c, roller mounting seat 12,
Installation axle 13, J4 axle axle bed a, J4 axle axle bodies b.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail, but the embodiment should not be construed as pair
The limitation of the present invention.
Rotation follower of the present embodiment offer one applied to high-low temperature resistant opening and closing robot J4 axles, including retainer ring 1,
Bearing 2, rotating ring 3 and pressing plate 4；Wherein, the retainer ring 1 includes coaxially arranged fixation inner ring 1a and fixed outer shroud 1b, institute
State fixed inner ring 1a one end and sealed by retainer plate 1c one end corresponding with the fixed outer shroud 1b and is connected, the fixed inner ring
1a other end one end corresponding with the fixed outer shroud 1b, which is formed, to be open；The rotating ring 3 is included in coaxially arranged rotation
Ring 3a and rotation outer shroud 3b, the rotation inner ring 3a one end are close by rotating circle 3c one end corresponding with the rotation outer shroud 3b
Envelope is connected, and the other end of rotation inner ring 3a one end corresponding with the rotation outer shroud 3b, which is formed, to be open；
The openend of the retainer ring 1 and the openend of the rotating ring 3 are positioned opposite, the opening of the rotation outer shroud 3b
The outer wall at end is provided with the rotation slot 3d for being used for inserting the fixed outer shroud 1b, and the openend of the fixed outer shroud 1b is rotatable
Ground is inserted into the rotation slot 3d, the openend of the fixed inner ring 1a be rotationally inserted into the rotation inner ring 3a and
Between the rotation outer shroud 3b, the internal diameter of the rotation inner ring 3a is more than J4 axle axle bodies b external diameter, the rotation outer shroud 3b and institute
State and first seal 5 is provided between fixed outer shroud 1b, it is close to be provided with second between the fixed inner ring 1a and the rotation inner ring 3a
Sealing 6, the retainer ring 1, the first seal 5, the second seal 6 and the rotating ring 3 form the servo-actuated chamber of rotation,
The outer wall of the openend of the rotation inner ring 3a is provided with the bearing inner race mounting groove 3e for being used for installing the inner ring of bearing 2, institute
State and the position of the bearing inner race mounting groove 3e is corresponded on fixed inner ring 1a inwall be provided with bearing outer ring mounting groove 1d, the axle
The one end for holding 2 is inserted into the bearing installation cavity formed by the bearing inner race mounting groove 3e and the bearing outer ring mounting groove 1d
Interior, the other end of the bearing 2 is fitted on the openend of the rotation inner ring 3a by the pressing plate 4；
At least offer an air admission hole 1e on the retainer plate 1c, it is corresponding on the outer surface of the retainer plate 1c described in enter
Stomata 1e position is provided with air inlet seat 1f, the rotation circle 3c and at least offers two venthole 3f, the rotation circle
The position that the venthole 3f is corresponded on 3c outer surface is at least provided with an outlet base 3g；
The outer surface of the retainer plate 1c is provided with the main installing plate 7 of retainer ring that can be fixedly mounted on J4 axle axle beds a, institute
The outer surface for stating rotation circle 3c is provided with axially disposed roller 8, anchor ear 9 is set with J4 axle axle bodies b, on the anchor ear 9
The position of the corresponding roller 8 is provided with radially arranged shift fork 10, and the roller 8 is installed in the shift fork 10.
The servo-actuated chamber of rotation is formed by retainer ring 1, first seal 5, second seal 6 and rotating ring 3, and in retainer ring
The air inlet seat 1f connected with rotating servo-actuated chamber is added on 1, the outlet base connected with rotating servo-actuated chamber is added in rotating ring 3
3g, so, the retainer ring 1 of this rotation follower can be fixedly mounted on J4 axle axle beds a, rotating ring 3 is arranged on J4 axles
On axle body b, then protective clothing is divided into two sections, one end of first paragraph is fixed on J1 axles, and the other end of first paragraph is consolidated by anchor ear
It is scheduled in retainer ring 1, one end of second segment is fixed on rotating ring 3 by anchor ear, and the other end of second segment is fixed on J6 axles, by
It can be relatively rotated between retainer ring 1 and rotating ring 3, so after putting on protective clothing, J4 axles still can be in the range of 0-360 ° certainly
By rotating, the requirement of various tracks can be met, and while protective clothing is not guaranteed by any torque failure, service life, and
And cold air can be passed at J6 axles by air inlet seat 1f, the servo-actuated chamber of rotation and outlet base 3g；Meanwhile by being enclosed in rotation
Cold air, can be incorporated at J4 axles more by the upper venthole 3f opened up of 3c, and the both ends of the larger J4-J6 axles of such caloric value have cold
Air cools down, so as to effectively cool to J4-J6 axles.
The outer wall of above-mentioned rotation outer shroud 3b openend is provided with the first seal for being used for installing the first seal 5
Mounting groove, the first seal 5 are arranged in the first seal mounting groove；Outside the openend of the rotation inner ring 3a
Wall, which is provided with, is used to clamping the second seal card holding trough of the second seal 6, and the second seal 6 is installed on described the
In two seal card holding troughs.By the way that two seals are all arranged on rotating ring 3, the assembling of part is so facilitated.
Above-mentioned air admission hole 1e quantity is two, and circumferencial directions of two air admission hole 1e along the retainer plate 1c is uniform
Arrangement.The quantity of the venthole 3f is five, and five venthole 3f enclose the 3c uniform cloth of circumferencial direction along the rotation
Put, two in five venthole 3f are provided with the outlet base 3g.By by three skies in five venthole 3f
Put, such cold air can flow out from three venthole 3f, and the J4 axle larger to caloric value directly cools down.
Corresponding air inlet seat 1f position, which is provided with, on above-mentioned retainer plate 1c outer surface can be fixedly mounted on J4
Retainer ring pair installing plate 11 on axle axle bed a, the both ends of the retainer ring pair installing plate 11 are respectively provided with installation and adjustment
Secondary installing plate waist round hole 11a.The retainer ring pair installing plate 11 added improves the rigidity of fixation of this rotation follower and reliable
Property.The retainer ring pair installing plate 11 is the installing plate of L-shaped structure, and the retainer ring pair installing plate 11 is arranged on the fixation
The secondary installing plate opening 11b that the air inlet seat 1f is passed through can be allowed by being provided with the middle part of one end on circle 1c, the secondary installation of the retainer ring
It is provided with the middle part of the other end of plate 11 and is used to prevent the avoidance opening 11c interfered between part.The secondary installing plate opening added
11b can not only make the mounting structure of mechanism more compact, save installing space, while can also reduce retainer ring pair installing plate 11
Weight；Meanwhile the avoidance opening 11c added can not only prevent from interfering between part, and retainer ring pair can also be reduced
The weight of installing plate 11.
The above-mentioned main installing plate 7 of retainer ring is the installing plate of L-shaped structure, and being arranged on for the main installing plate 7 of retainer ring is described
One end both sides on retainer plate 1c are respectively provided with the main installing plate kidney slot 7a of installation and adjustment, the main installing plate of retainer ring
7 other end is provided with the main installing plate waist round hole 7b for installation and adjustment.Pass through the main installing plate kidney slot 7a of design and main peace
Loading board waist round hole 7b facilitates the installation site of regulation this rotation follower.The main installing plate 7 of retainer ring is provided with loss of weight
Hole 7c.
The position that the roller 8 is corresponded on above-mentioned rotation circle 3c outer surface is provided with roller mounting seat 12, and the roller 8 is logical
Installation axle 13 is crossed in the roller mounting seat 12.The maintenance that the roller mounting seat 12 added facilitates roller 8 is changed.Institute
It is L-shaped structure to state shift fork 10, and one end of the shift fork 10 is provided with U-shaped shift fork notch 10a, the U-shaped shift fork notch 10a along described
Rotation circle 3c radial arrangement, the width of the U-shaped shift fork notch 10a are more than the diameter of the roller 8, and the roller 8 clamps
In the U-shaped shift fork notch 10a, and the roller 8 can be in rotation circle 3c described in the U-shaped shift fork notch 10a interior edges radially
Slide, the other end of the shift fork 10 is arranged on the anchor ear 9.Cooperation between the U-shaped shift fork notch and roller of design, can
The automatic fine motion for adapting to rotation ring position caused by retainer ring fine position, with ensure retainer ring 1, rotating ring 3 and J4 axles it
Between axiality；Meanwhile by the way that into the diameter slightly larger than roller 8, U-shaped shift fork notch 10a width design can so be reduced into U
Frictional force between shape shift fork notch 10a and roller 8.
The present embodiment forms the servo-actuated chamber of rotation by retainer ring 1, first seal 5, second seal 6 and rotating ring 3, and
The air inlet seat 1f connected with rotating servo-actuated chamber is added in retainer ring 1, adds to go out with what the servo-actuated chamber of rotation connected in rotating ring 3
Tracheae seat 3g, so, the retainer ring 1 of this rotation follower can be fixedly mounted on J4 axle axle beds a, rotating ring 3 is installed
It is divided into two sections on J4 axle axle bodies b, then by protective clothing, one end of first paragraph is fixed on J1 axles, and the other end of first paragraph passes through
Anchor ear is fixed in retainer ring 1, and one end of second segment is fixed on rotating ring 3 by anchor ear, and the other end of second segment is fixed on J6
On axle, due to that can be relatively rotated between retainer ring 1 and rotating ring 3, so after putting on protective clothing, J4 axles still can be in 0-360 ° of model
Rotated freely in enclosing, the requirement of various tracks can be met, and while protective clothing is not protected by any torque failure, service life
Card, and cold air can be passed at J6 axles by air inlet seat 1f, the servo-actuated chamber of rotation and outlet base 3g；By being enclosed in rotation
Cold air, can be incorporated at J4 axles more by the upper venthole 3f opened up of 3c, and the both ends of the larger J4-J6 axles of such caloric value have cold
Air cools down, so as to effectively cool to J4-J6 axles；By the way that two seals are all arranged on rotating ring 3, so
Facilitate the assembling of part；By the way that three in five venthole 3f are vacant, such cold air can be from three venthole 3f
Middle outflow, the J4 axle larger to caloric value directly cool down；It is servo-actuated that the retainer ring pair installing plate 11 added improves this rotation
The rigidity of fixation and reliability of mechanism；The secondary installing plate opening 11b added can not only make the mounting structure of mechanism more compact, section
About installing space, while can also reduce the weight of retainer ring pair installing plate 11；The avoidance opening 11c added can not only prevent zero
Interfered between part, and the weight of retainer ring pair installing plate 11 can also be reduced；Pass through the main installing plate kidney slot 7a of design
The installation site of regulation this rotation follower is facilitated with main installing plate waist round hole 7b；The roller mounting seat 12 added facilitates
The maintenance of roller 8 is changed；Cooperation between the U-shaped shift fork notch and roller of design, retainer ring fine position institute can be adapted to automatically
The fine motion of the rotation ring position brought, to ensure the axiality between retainer ring 1, rotating ring 3 and J4 axles；By by U-shaped shift fork
Notch 10a width design can so reduce rubbing between U-shaped shift fork notch 10a and roller 8 into the diameter slightly larger than roller 8
Wipe power.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
- A kind of 1. rotation follower applied to high-low temperature resistant opening and closing robot J4 axles, it is characterised in that：Including retainer ring (1), bearing (2), rotating ring (3) and pressing plate (4)；Wherein, the retainer ring (1) includes coaxially arranged fixation inner ring (1a) and fixed outer shroud (1b), the fixed inner ring The one end of (1a) is sealed by retainer plate (1c) one end corresponding with the fixed outer shroud (1b) to be connected, the fixed inner ring (1a) Other end one end corresponding with the fixed outer shroud (1b) formed and be open；The rotating ring (3) includes coaxially arranged rotation Inner ring (3a) and rotation outer shroud (3b), one end of the rotation inner ring (3a) is by rotating circle (3c) and the rotation outer shroud (3b) Corresponding one end sealing is connected, and the other end of the rotation inner ring (3a) one end corresponding with the rotation outer shroud (3b), which is formed, opens Mouthful；The openend and the openend of the rotating ring (3) of the retainer ring (1) are positioned opposite, and rotation outer shroud (3b) is opened The outer wall at mouth end is provided with the rotation slot (3d) for being used for inserting the fixed outer shroud (1b), the opening of the fixed outer shroud (1b) End is rotationally inserted into rotation slot (3d), and the openend of the fixed inner ring (1a) is rotationally inserted into described Rotate between inner ring (3a) and the rotation outer shroud (3b), be provided between the rotation outer shroud (3b) and the fixed outer shroud (1b) First seal (5), second seal (6), the rotation are provided between the fixed inner ring (1a) and the rotation inner ring (3a) The outer wall for turning the openend of inner ring (3a) is provided with the bearing inner race mounting groove (3e) for being used for installing the bearing (2) inner ring, institute State and the position of the bearing inner race mounting groove (3e) is corresponded on fixed inner ring (1a) inwall be provided with bearing outer ring mounting groove (1d), One end of the bearing (2) is inserted into what is formed by the bearing inner race mounting groove (3e) and the bearing outer ring mounting groove (1d) In bearing installation cavity, the other end of the bearing (2) is fitted in the openend of the rotation inner ring (3a) by the pressing plate (4) On；At least offer an air admission hole (1e) on the retainer plate (1c), it is corresponding on the outer surface of the retainer plate (1c) described in The position of air admission hole (1e) is provided with air inlet seat (1f), and two ventholes (3f) are at least offered on the rotation circle (3c), The position that the venthole (3f) is corresponded on the outer surface of the rotation circle (3c) is at least provided with an outlet base (3g)；The outer surface of the retainer plate (1c) is provided with the main installing plate of retainer ring (7) that can be fixedly mounted on J4 axle axle beds (a), The outer surface of the rotation circle (3c) is provided with axially disposed roller (8), and anchor ear (9), institute are set with J4 axle axle bodies (b) State and the position of the roller (8) is corresponded on anchor ear (9) be provided with radially arranged shift fork (10), the roller (8) is installed on institute State in shift fork (10).
- 2. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The outer wall of the openend of the rotation outer shroud (3b), which is provided with, is used for the first sealing for installing the first seal (5) Part mounting groove, the first seal (5) are arranged in the first seal mounting groove；The opening of the rotation inner ring (3a) The outer wall at end is provided with the second seal card holding trough for being used for clamping the second seal (6), second seal (6) card In the second seal card holding trough.
- 3. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The quantity of the air admission hole (1e) is two, circumferencial direction of two air admission holes (1e) along the retainer plate (1c) It is evenly arranged.
- 4. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The quantity of the venthole (3f) is five, and five ventholes (3f) enclose the circumferencial direction of (3c) along the rotation It is evenly arranged, two in five ventholes (3f) are provided with the outlet base (3g).
- 5. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The position of a corresponding air inlet seat (1f), which is provided with, on the outer surface of the retainer plate (1c) can be fixedly mounted on J4 Retainer ring pair installing plate (11) on axle axle bed (a), the both ends of the retainer ring pair installing plate (11) are respectively provided with installation The secondary installing plate waist round hole (11a) of regulation.
- 6. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 5, its feature It is：The retainer ring pair installing plate (11) is the installing plate of L-shaped structure, and the retainer ring pair installing plate (11) is arranged on institute The secondary installing plate opening (11b) for being provided with the middle part of one end on retainer plate (1c) and the air inlet seat (1f) being allowed to pass through is stated, it is described It is provided with the middle part of the other end of retainer ring pair installing plate (11) and is used to prevent the avoidance opening (11c) interfered between part.
- 7. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The main installing plate of retainer ring (7) is the installing plate of L-shaped structure, and being arranged on for the main installing plate of retainer ring (7) is described One end both sides on retainer plate (1c) are respectively provided with the main installing plate kidney slot (7a) of installation and adjustment, the main peace of retainer ring The other end of loading board (7) is provided with the main installing plate waist round hole (7b) for installation and adjustment.
- 8. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 7, its feature It is：The main installing plate of retainer ring (7) is provided with lightening hole (7c).
- 9. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The position that the roller (8) is corresponded on the outer surface of the rotation circle (3c) is provided with roller mounting seat (12), the roller (8) it is arranged on by installation axle (13) on the roller mounting seat (12).
- 10. a kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles as claimed in claim 1, its feature It is：The shift fork (10) is L-shaped structure, and one end of the shift fork (10) is provided with U-shaped shift fork notch (10a), the U-shaped shift fork Notch (10a) encloses the radial arrangement of (3c) along the rotation, and the width of the U-shaped shift fork notch (10a) is more than the roller (8) Diameter, the roller (8) is installed in the U-shaped shift fork notch (10a), and the roller (8) can be in the U-shaped fork slot Rotation circle (3c) described in mouth (10a) interior edge is radially slided, and the other end of the shift fork (10) is arranged on the anchor ear (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984671.XA CN107650145A (en) | 2017-10-20 | 2017-10-20 | A kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984671.XA CN107650145A (en) | 2017-10-20 | 2017-10-20 | A kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107650145A true CN107650145A (en) | 2018-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710984671.XA Pending CN107650145A (en) | 2017-10-20 | 2017-10-20 | A kind of rotation follower applied to high-low temperature resistant opening and closing robot J4 axles |
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| Country | Link |
|---|---|
| CN (1) | CN107650145A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4353677A (en) * | 1980-03-05 | 1982-10-12 | Thermwood Corporation | Wrist construction for industrial robots |
| CN101602034A (en) * | 2009-07-13 | 2009-12-16 | 清华大学 | Inner-wall spraying robot system and inner wall spraying method |
| CN202357034U (en) * | 2011-11-07 | 2012-08-01 | 天津绿博大环保设备科技研发有限公司 | Bucket opening location device capable of preventing bucket from vibrating |
| CN105328696A (en) * | 2014-07-29 | 2016-02-17 | 沈阳众拓机器人设备有限公司 | Feeding and discharging manipulator for heating furnace |
| CN206065876U (en) * | 2016-09-30 | 2017-04-05 | 东风雷诺汽车有限公司 | Oil sump bolt automatic tightening system on electromotor |
-
2017
- 2017-10-20 CN CN201710984671.XA patent/CN107650145A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4353677A (en) * | 1980-03-05 | 1982-10-12 | Thermwood Corporation | Wrist construction for industrial robots |
| CN101602034A (en) * | 2009-07-13 | 2009-12-16 | 清华大学 | Inner-wall spraying robot system and inner wall spraying method |
| CN202357034U (en) * | 2011-11-07 | 2012-08-01 | 天津绿博大环保设备科技研发有限公司 | Bucket opening location device capable of preventing bucket from vibrating |
| CN105328696A (en) * | 2014-07-29 | 2016-02-17 | 沈阳众拓机器人设备有限公司 | Feeding and discharging manipulator for heating furnace |
| CN206065876U (en) * | 2016-09-30 | 2017-04-05 | 东风雷诺汽车有限公司 | Oil sump bolt automatic tightening system on electromotor |
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