CN108000496A

CN108000496A - A kind of wu-zhi-shan pig

Info

Publication number: CN108000496A
Application number: CN201711440362.2A
Authority: CN
Inventors: 梁佳楠; 罗少锋; 林明勇; 何永伦
Original assignee: Guangdong Institute of Intelligent Manufacturing; South China Robotics Innovation Research Institute
Current assignee: Guangdong Institute of Intelligent Manufacturing; South China Robotics Innovation Research Institute
Priority date: 2017-12-27
Filing date: 2017-12-27
Publication date: 2018-05-08

Abstract

A kind of wu-zhi-shan pig provided by the invention, first arm, the second arm, rounded end and the driving element at rotation end are arranged on the platform of rotating base module, first arm, the second arm, rounded end and rotation end are in addition to own wt and supporting component weight, there is no the weight of driving element, the swing or rotational motion of high speed can be carried out；Simultaneously as weight is focused primarily upon on platform, the rotator inertia of arm greatly reduces, and rotating base module can carry out high-speed rotation；Retarder in rotating base module can carry out flexible design according to movement velocity and the demand of load, to adapt to different operating modes, have good practicality.

Description

A kind of wu-zhi-shan pig

Technical field

The present invention relates to robot field, and in particular to a kind of wu-zhi-shan pig.

Background technology

Robot can be divided into parallel robot and serial manipulator, wherein, the common type of serial manipulator has joint Robot.Common articulated robot, the driving element of its each arm is installed on the joint being connected with forearm, with arm quantity Increase, the load of each arm can accordingly increase, cause the driving dynamical element volume of arm increases, the movement velocity of arm slows down, The problems such as precision of arm is reduced, is unfavorable for the high speed of articulated robot end.

Therefore, it is necessary to a kind of arm to load smaller, the faster articulated robot of the working distal tip speed of service.

The content of the invention

In order to realize the high speed of the lightweight of robots arm and working distal tip, an embodiment of the present invention provides a kind of five axis Robot, the wu-zhi-shan pig include rotating base module, the first arm, the second arm, first connecting rod, second connecting rod, the first arm and drive Dynamic component, first connecting rod drive component, rounded end, revolution driving component, revolution transmission component, rotation end, rotation drive component With rotation transmission component；

The rotating base module includes rotating base motor, retarder, shaft coupling, platform；

The shell of the rotating base motor is fixed on a rotating base electric machine support, shaft along the positive arrangements of z and with The input terminal connection of the retarder；

The output terminal of the retarder and the input terminal of shaft coupling connect, and the output terminal of the shaft coupling connects with the platform Connect；

The rotating base motor drives the platform to rotate through the retarder and shaft coupling；

The platform is parallel with x/y plane, is provided with y and is connected to the first opposite base shaft in the platform x forward Part and the second base shaft connector；

Between the first base shaft connector and the second base shaft connector opposite face, the first base of a cylinder turns Axis beginning is slidably mounted on the first base shaft connector；Second base shaft beginning of one cylinder is slidably mounted on described On second base shaft connector；The first base shaft axis and the second base shaft axis are conllinear and parallel with y-axis；

The first arm beginning is slide hinged in the first base shaft and/or the second base shaft, where articulated position Axis is the first joint；The first arm end is hinged with the second arm beginning, and axis where articulated position is second joint； The second arm end is hinged with the rounded end, and axis where articulated position is the 3rd joint；

The first connecting rod beginning is slide hinged in the first base shaft and/or the second base shaft, end with it is described Second connecting rod beginning is hinged；The second connecting rod end is articulated with the middle part of second arm or on end；First arm, second Arm, first connecting rod and second connecting rod form a quadric chain；

The first arm drive component is installed on the platform, for driving first arm around the second base shaft Rotate；The first connecting rod drive component is installed on the platform, for driving the first connecting rod to turn around first base Axis rotates；

The revolution transmission component turns round belt wheel and for being driven including the first revolution belt wheel, the second revolution belt wheel, the 3rd Revolution belt；

The first revolution belt wheel is fixed in the first base shaft, and the second revolution belt wheel is arranged on described second On joint, the 3rd revolution belt wheel is arranged on the 3rd joint, and the 3rd revolution belt wheel is connected with the rounded end It is fixed；

The first revolution belt wheel, the second revolution belt wheel, the 3rd revolution belt wheel are based on revolution belt and are attached；

The revolution driving component is installed on the first base shaft connector y negative senses, and output terminal turns with first base Axis beginning connects, and drives the base shaft, the first revolution belt wheel, the second revolution belt wheel, the 3rd revolution belt wheel and rounded end to rotate；

The rotation end is arranged on the rounded end, and axis is vertical with the 3rd joints axes；

The rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel, the 3rd rotation belt wheel, first bevel gear And second bevel gear；

The first rotation belt wheel is fixed in the second base shaft, and the second rotation belt wheel is arranged on described second On joint, the 3rd rotation belt wheel be arranged on the 3rd joint and with the described 3rd revolution belt wheel it is coaxial；

The first bevel gear be connected with the 3rd rotation belt wheel it is fixed and coaxial, the second bevel gear with it is described oneself Turn the coaxially connected fixation in end；The first bevel gear is engaged with the second bevel gear；

The rotation drive component is installed on the second base shaft connector y forward directions, and output terminal turns with second base Axis beginning connects, and drives the second base shaft, the first rotation belt wheel, the second rotation belt wheel, the 3rd rotation belt wheel and the first cone Gear synchronous rotates and is based on first bevel gear and second bevel gear, drives the rotation end around own axis.

Preferred embodiment, the retarder include speed reducer housing, input shaft, input gear, two spur gears, two Root crank axle, the first planet carrier, the number of teeth equal the first RV gears and the 2nd RV gears, the second planet carrier；

It is positive from z negative senses to z inside the speed reducer housing, it is sequentially installed with second planet carrier, the 2nd RV teeth Wheel, the first RV gears, the first planet carrier；

The angular contact bearing of first planet carrier and the second planet carrier based on periphery coordinates in the speed reducer housing Wall；The speed reducer housing inner wall corresponds on the position of the first RV gears, the 2nd RV gears, is uniformly provided with than described The pin tooth of first RV gears and the 2nd RV number of gear teeth quantity more one；

The input shaft and two crank axles from speed reducer housing z negative senses, sequentially pass through second planet carrier, 2nd RV gears, the first RV gears, the first planet carrier；

The input shaft end is in the through hole of first planet carrier and is connected with the input gear, and described two Root crankshaft end is in the through hole of first planet carrier and is connected respectively with described two spur gears；

Described two spur gears are symmetrically arranged in outside the input gear and are engaged with the input gear；

The crank axle is respectively first rotating shaft portion, the first crank portion, the second crank portion and second from z forward directions to z negative senses Shaft；

In the crank axle, first rotating shaft portion periphery is based on taper roll bearing and coordinates in first planet carrier Through-hole wall；The second shaft periphery coordinates the through-hole wall in second planet carrier based on taper roll bearing； The axis collinear of the first rotating shaft portion and the second shaft is simultaneously parallel with the input shaft axis；

First crank portion of two crank axles is based respectively on needle bearing and is connected with the first RV gears；Described two Second crank portion of root crank axle is based respectively on needle bearing and is connected with the through-hole wall of the 2nd RV gears；

The first RV gears under the drive of two crank axles, are engaged to the pin tooth with the 2nd RV gears On；

On first planet carrier, the second planet carrier, the first RV gears and the 2nd RV gears, heat emission hole is provided with.

Preferred embodiment, on first planet carrier, be provided with for power output output connecting hole and be used for The cone stick bearing contact surface of the cone stick bearing contact；

Distance of the heat emission hole away from the output connecting hole, is at least 1/10th of the output connection bore dia；

Distance of the heat emission hole away from the cone stick bearing contact surface, is at least the cone stick bearing contact surface / 10th of diameter.

Preferred embodiment, on the first RV gears and the 2nd RV gears, is respectively arranged with and the crank axle First crank portion or the crank portion connecting hole of the second crank portion connection；

Distance of the heat emission hole away from the crank portion connecting hole be at least crank portion connection bore dia ten/ One；

The distance of the bottom of the tooth circle of tooth of the heat emission hole away from the first RV gears, is at least the tooth of the first RV gears Tooth it is high；

On the 2nd RV gears, the distance of the bottom of the tooth circle of tooth of the heat emission hole away from the 2nd RV gears, at least Tooth for the tooth of the 2nd RV gears is high.

On the z forward directions face and z negative senses face of preferred embodiment, the first RV gears and the 2nd RV gears, point Abrasion-proof ceramic coat is not provided with it.

Preferred embodiment, first arm is parallel with the second connecting rod and equal length；The first connecting rod is put down Row is in second arm.

Preferred embodiment, second arm lengths are greater than or equal to the first connecting rod length.

Preferred embodiment, the first arm drive component include the first arm driving base, the first arm driving motor, the One arm driving screw, the first arm driving sliding block and the first arm drive connection part；

The first arm driving base is hinged on the x negative senses of the platform；

First arm driving screw and the first arm the driving sliding block is installed in one first arm cover of driver, first arm Driving slide block set, the first arm drive connection part is connected with first arm driving sliding block on first arm driving screw It is fixed；The first arm drive connection part is connected fixation with the first arm beginning, and coaxial with the screw；

The first arm cover of driver is fixed in side by side on the first arm driving base with first arm driving motor； The shaft of the first arm driving motor and one end of first arm driving screw are based in first arm driving base Gear connection transmission；

The first arm drive connection part drives first arm to be rotated around the second base shaft.

Preferred embodiment, the first connecting rod drive component include first connecting rod driving base, first connecting rod driving Motor, first connecting rod driving screw, first connecting rod driving sliding block and first connecting rod drive connection part；

The first connecting rod driving base is hinged on the x negative senses of the platform；

First connecting rod driving screw and first connecting rod driving sliding block are installed in first connecting rod cover of driver, and described the One connecting rod drives slide block set on first connecting rod driving screw, the first connecting rod drive connection part and the first connecting rod Sliding block connection is driven to fix；The first connecting rod drive connection part is connected fixation with the first connecting rod beginning, and with the silk Bar is coaxial；

The first connecting rod cover of driver is fixed in the first connecting rod side by side with first connecting rod driving motor and drives On base；The shaft of the first connecting rod driving motor and one end of first connecting rod driving screw are driven in the first connecting rod Based on gear connection transmission in dynamic base；

The first connecting rod drive connection part drives the first connecting rod to be rotated around the first base shaft.

Preferred embodiment, first arm are open column shape structure；Second arm is by two piece of second arm cover board group Into, between two piece of second arm cover board pass through more than one second arm fixing piece connection fix.

Wu-zhi-shan pig provided by the invention, the component in retarder use light-weight design, advantageously reduce complete machine weight The volume of amount and rotating base；The rotation driving part of joint arm, the revolution of rounded end and rotation end is arranged on platform, arm Lighter in weight, the end speed of service are very fast；Running orbit based on rotating base module and quadric chain control end, control Difficulty is relatively low.

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 embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 shows the three dimensional structure diagram of wu-zhi-shan pig of the embodiment of the present invention；

Fig. 2 shows the front view of wu-zhi-shan pig of the embodiment of the present invention；

Fig. 3 shows the Section A-A schematic diagram of the embodiment of the present invention；

Fig. 4 shows the section B-B schematic diagram of the embodiment of the present invention；

Fig. 5 shows the top view of wu-zhi-shan pig of the embodiment of the present invention；

Fig. 6 shows the front view of the first arm of the embodiment of the present invention；

Fig. 7 shows the front view of first connecting rod of the embodiment of the present invention；

Fig. 8 shows the motion structure schematic diagram of the embodiment of the present invention；

Fig. 9 shows the partial enlarged view of wu-zhi-shan pig front view of the embodiment of the present invention；

Figure 10 shows that rotating base module of the embodiment of the present invention faces full sectional view；

Figure 11 shows retarder of embodiment of the present invention elevational perspective view one；

Figure 12 shows retarder top view of the embodiment of the present invention；

Figure 13 shows retarder of embodiment of the present invention elevational perspective view two；

Figure 14 shows the first planet carrier top view of the embodiment of the present invention；

Figure 15 shows the first RV gear top views of the embodiment of the present invention；

Figure 16 shows shaft coupling elevational cross-sectional view of the embodiment of the present invention.

Embodiment

Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts Embodiment, belongs to the scope of protection of the invention.

An embodiment of the present invention provides a kind of wu-zhi-shan pig, the rotating base module overall structure of the wu-zhi-shan pig is tight Gather, the deceleration of motor is realized in less volume, larger load can be born, it is with good stability；Retarder is visual Workload demands carry out light-weight design, can be applicable in a variety of load scenarios；There is no heavier-weight on first arm and the second arm Driving element and complicated transmission mechanism, movement velocity are very fast；Rotary motion and quadric chain based on rotating base module Principle controls the movement of the wu-zhi-shan pig, and the end orbit calculating of wu-zhi-shan pig is relatively simple, and software control is realized more Easily.

Fig. 1 shows the three dimensional structure diagram of wu-zhi-shan pig of the embodiment of the present invention, and Fig. 2 shows the embodiment of the present invention The front view of wu-zhi-shan pig, Fig. 5 show the top view of wu-zhi-shan pig of the embodiment of the present invention.

Wu-zhi-shan pig provided in an embodiment of the present invention, including rotating base module 901, the first arm 102, the second arm 103, First connecting rod 105, second connecting rod 104, the first arm drive component 107,106 drive component of first connecting rod, rounded end 844, revolution Drive component 801, revolution transmission component, rotation end 845, rotation drive component 802 and rotation transmission component.

The rotating base module includes rotating base motor 206, retarder 207, shaft coupling 208, platform 101；

The shell 201 of the rotating base motor is fixed on a rotating base electric machine support, and shaft is arranged simultaneously along z is positive It is connected with the input terminal of the retarder 207；

The output terminal of the retarder 207 is connected with the input terminal of shaft coupling 208, the output terminal of the shaft coupling 208 with The platform 101 connects；

Rotating base motor 206 drives platform 101 to rotate through retarder 207, shaft coupling 208.

Hereinafter, the component first above platform is introduced, then rotating base module is introduced.

Firstly the need of explanation, in order to mitigate the weight of the first arm 102 and the second arm 103, the of the embodiment of the present invention The structure of one arm 102 is open column shape structure, is specially square open column shape structure；Second arm 103 passes through two piece of second arm lid Plate forms, and is connected and fixed by more than one second arm fixing piece between two piece of second arm cover board；, can in specific implementation It is arranged to various forms of arm configurations.

The platform 101 is parallel with x/y plane, and in specific implementation, 101 top surface of platform is a plane, the plane and x/y plane Parallel, shape is not unique.

In the platform x forward, y is provided with to connect with the second base shaft to the first opposite base shaft connector 109 Part 111；

Fig. 3 shows the profile of Section A-A, succinct for view, only shows there is the part of cutting plane；Bearing Hatching is not shown due to complex in figure；In order to reduce friction, bearing is based between the opposite each parts slided Connect with bearing holder (housing, cover), since the connection mode is relatively conventional in industry, be not discussed in detail.Connected in the first base shaft Between 109 and second base shaft connector of part, 111 opposite face, 108 beginning of the first base shaft of a cylinder is slidably mounted on institute State on the first base shaft connector 109；110 beginning 815 of the second base shaft of one cylinder is slidably mounted on second base and turns On shaft coupling piece；The first base shaft axis and the second base shaft axis are conllinear and parallel with y-axis.

First arm, 102 beginning is slide hinged in the first base shaft 108 and/or the second base shaft 110, this hair First arm 102 of bright embodiment is open column shape structure, across slide hinged in the first base shaft 108 and the second base shaft 110 On；First arm, 102 end is hinged with 103 beginning of the second arm；Cut with scissors with the rounded end the second arm end 103 Connect.

105 beginning of first connecting rod is slide hinged in the first base shaft 108 and/or the second base shaft 110, end End is hinged with 104 beginning of second connecting rod；104 end of second connecting rod is articulated with the middle part of the second arm 103 or end On；First arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104 form a quadric chain；

The first arm drive component 107 is installed on the platform 101, for driving first arm 102 around described First base shaft 108 and/or the second base shaft 110 rotate；The first connecting rod drive component 106 is installed on the platform 101 On, for driving the first connecting rod 105 to be rotated around the first base shaft 108.

It should be noted that the first arm drive component and the second arm drive component can control and keep the first arm, second The position of the quadric chain structure of arm, first connecting rod and second connecting rod composition；The position of rounded end passes through revolution driving component 801st, revolution transmission component is controlled；Controlled by rotation drive component 802 and rotation transmission component the position at rotation end System.

Wherein, the first base shaft 108 is driven by revolution driving component 801.Revolution driving component 801 includes revolution driving electricity Machine 810, revolution driving retarder 811 and supporting bearing and bearing holder (housing, cover).First base shaft, 108 beginning is slidably mounted on first On base shaft connector 109, end is fixed with the first revolution belt wheel 813；Revolution driving retarder 811 is fixed on the first base shaft On 108；Revolution driving motor 810 is connected through revolution driving retarder 811 with the first base shaft connector 109；Revolution driving electricity Machine 810 is rotated through revolution driving retarder 811, the first base shaft 108 driving the first revolution belt wheel 813.

Second base shaft 110 is driven by rotation drive component 801.Rotation drive component 802 includes rotation driving motor 817th, rotation driving retarder 816 and supporting bearing and bearing holder (housing, cover).Second base shaft, 110 beginning is slidably mounted on the second base On shaft connector 111, end is fixed with the first revolution belt wheel 814；Rotation driving retarder 816 is fixed on the second base shaft company On fitting 111；Rotation driving motor 817 is connected through rotation driving retarder 816 with the second base shaft 110；Rotation driving motor 817 drive the first rotation belt wheel 814 to rotate through rotation driving retarder 815, the second base shaft 110.

Fig. 4 shows the cross-sectional view of section B-B, succinct for view, only shows there is the portion of cutting plane Point；The hatching of bearing is not shown due to complex in figure；In order to reduce friction, the opposite each parts slided it Between connected based on bearing with bearing holder (housing, cover), since the connection mode is relatively conventional in industry, be not discussed in detail.First arm 104 End and 103 beginning of the second arm are hinged, specifically, second joint shaft 834 is along y to through the y forward directions face of the first arm 104 and y Negative sense face.The second revolution sleeve 833, second is slidably fitted with second joint shaft 834 from rotaring sleeve 832, wherein, second time Rotaring sleeve 833 is slidably mounted on the first arm 104y negative senses face, is fixedly connected with second respectively the first arm 104 is inside and outside Turn round belt wheel one 836 and second and turn round belt wheel 2 835；Second is slidably mounted on the first arm 104y forward directions face from rotaring sleeve 832, The second rotation belt wheel 1 and the second rotation belt wheel 2 838 are fixedly connected with respectively the first arm 104 is inside and outside.Second Two piece of second arm cover board 137 of arm is slidably mounted on the second revolution sleeve 833, second from rotaring sleeve 832 respectively.

Fig. 5 shows the top view of the embodiment of the present invention, wherein, with rounded end rotary motion and rotation end spinning motion without The component of pass not shows that partial enlarged view is the sectional view of the second arm end.It is provided with second arm, 103 end along y to passing through The 3rd joint shaft 842 worn；3rd joint shaft 842y forward ends are fixedly connected with the 3rd rotation belt wheel 840, and y negative ends are slided Dynamic to be provided with the 3rd revolution sleeve 843, the 3rd revolution sleeve 843 is slidably mounted on the second arm 103y negative senses face, wherein, the 3rd Revolution sleeve 843 is fixedly connected with the 3rd revolution belt wheel 847 in y negative senses.

The rounded end 844 of the embodiment of the present invention is slidably mounted in the 3rd joint shaft 842, y negative ends and the 3rd revolution The connection of sleeve 843 is fixed, and 845 axis of rotation end is vertical with the axis of the 3rd joint shaft 842.

First bevel gear 841 is also fixedly connected with 3rd joint shaft 842, the second cone tooth is fixedly connected with rotation end Wheel 846；First bevel gear 841 and second bevel gear 842 engage, and axis is vertical between each other.

The modular construction being located at reference to more than to the wu-zhi-shan pig of the embodiment of the present invention above platform illustrates, below to this The rotary motion of the rounded end of inventive embodiments and the spinning motion at rotation end are summarized.

Turning round transmission component includes the first revolution belt wheel, the second revolution revolution of belt wheel one, second belt wheel two, the 3rd rotating belt Wheel and the revolution belt one for transmission, revolution belt two.The first base of revolution driving Component driver shaft rotates, and drives first time Turn belt wheel rotation；First revolution belt wheel is based on revolution belt one and drives the second revolution belt wheel one to rotate；Second revolution one He of belt wheel Second revolution belt wheel diyl is fixed and is synchronized with the movement in the second revolution sleeve connection；Second revolution belt wheel diyl is in revolution belt two Drive the 3rd revolution belt wheel movement；3rd revolution belt wheel is based on the 3rd revolution sleeve connection with rounded end and fixes, and rotates synchronously.

Rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel one, the second rotation belt wheel two, the 3rd rotation band Wheel, first bevel gear, second bevel gear and rotation belt one, rotation belt two for transmission；Rotation drive component driving the Diyl shaft rotates, and drives the first rotation belt wheel to rotate；First rotation belt wheel is based on rotation belt one and drives the second rotation belt wheel One rotates；Second rotation belt wheel one and the second rotation belt wheel two are fixed and are synchronized with the movement based on the second rotation sleeve connection；Second Rotation belt wheel two is based on rotation belt two and drives the movement of the 3rd rotation belt wheel；3rd rotation belt wheel is based on the 3rd with first bevel gear Joint shaft connection is fixed, and is rotated synchronously；Second bevel gear is orthogonal with first bevel gear to be engaged and is subject to first bevel gear to drive Dynamic realize rotates；The turning end being connected with second bevel gear is on rounded end around own axes rotation.

First base shaft and the second base shaft are additionally operable to 102 beginning of the first arm and in addition to as transmission parts One connecting rod, 105 beginning vacantly extremely in the height of setting, makes to leave space confession between the first base shaft and the second base shaft and platform First arm 102 and first connecting rod 105 move, and avoid the first arm 102 and first connecting rod 105 from producing interference with platform 101.

Fig. 1 shows the first arm, three-D structure diagram of the embodiment of the present invention, and Fig. 6 shows the embodiment of the present invention first Arm configuration front view.In specific implementation, 102 beginning of the first arm is slide hinged in the first base shaft 108 and In diyl shaft 110, end is hinged with 103 beginning of the second arm；In order to be connected for the installation of the first arm drive component 107, the One arm 102 is carried on the back on abterminal direction at beginning, extends the first arm connector, the first arm connector and the first arm drive component Output terminal be hinged.It should be noted that the first arm connector and the first arm are relatively-stationary, and the axis of the first arm connector It is less than the axial length of the first arm to length, based on lever principle, the micro-displacement of the first arm connector can be made, through the first base After 108 and second base shaft of shaft, 110 fulcrum, the big apart from displacement of the first arm end is amplified to, is conducive to the first arm end Quick movement.

Fig. 1 shows the first connecting rod three dimensional structure diagram of the embodiment of the present invention, and Fig. 7 shows the embodiment of the present invention One link mechanism front view.105 beginning of first connecting rod is articulated with the first base shaft 108, end and the second connecting rod 104 beginnings are hinged；In order to carry on the back abterminal direction at beginning for the installation connection of first connecting rod drive component 103, first connecting rod 105 On, extend first connecting rod connector, first connecting rod connector and the output terminal of first connecting rod drive component 106 are hinged.Need Illustrate be first connecting rod connector and first connecting rod is relatively-stationary, and the axial length of first connecting rod connector is less than the The axial length of one connecting rod, based on lever principle, can make the micro-displacement of first connecting rod connector, through the first base shaft 108 Fulcrum, is amplified to the big apart from displacement of first connecting rod end, is conducive to the quick movement of first connecting rod end.

104 beginning of second connecting rod is hinged on 105 end of first connecting rod, and end is hinged on the middle part or of the second arm 103 On the end of two arms 103.In specific implementation, second connecting rod 104 is frequently with hollow connecting rod to mitigate its weight.

Further, the first arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104 can use density less Aluminum or aluminum alloy is as material, further to mitigate its weight.

Fig. 8 shows the kinematic sketch of the wu-zhi-shan pig, the wu-zhi-shan pig material object front view with reference to shown in Fig. 2, point The first arm, the second arm, first connecting rod, second connecting rod are not replaced with straight line, replaces each hinge joint with circle respectively, wherein, respectively The name of hinge joint is as follows：First base shaft and the second base shaft are set on the same line, and it is hinged which is summarised as first Point 121, the hinge joint at 105 end of first connecting rod and 104 beginning of second connecting rod be the second hinge joint 122,102 end of the first arm and The hinge joint at 103 beginning of the second arm is the 3rd hinge joint 123, and the hinge joint of 104 end of second connecting rod and the second arm 103 is the 4th Hinge joint 124；It can be drawn by the kinematic sketch, the first arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104 are formed One quadric chain.

In specific implementation, the end of the second arm 103 can be arranged near the 4th hinge joint 124, due to the second arm at this time 103 the 4th hinge joint 124 of end distance is relatively near, understands that the end of the second arm 103 is relative to the second arm based on lever principle The displacement at 103 beginning is acted in diminution, is conducive to improve the end-of-pipe control precision of the second arm 103；But it is based on quadric chain Structure limitation, which can cause the scope of activities of 103 end of the second arm smaller.

Therefore, in specific implementation, it can also extend the length of the second arm 103, end is overhang the 4th hinge joint 124, should Set-up mode is conducive to increase the scope of activities of the second arm 103, can be adapted to more working environments.

In specific implementation, although the corresponding Bit andits control of the second arm end can be achieved in the quadric chain of arbitrary structures, But more convenient in order to calculate the control of the second arm end, each length of side of the quadric chain of the embodiment of the present invention may be configured as Following parameter：First arm 102 is parallel with the second connecting rod 104 and equal length；The first connecting rod 105 is parallel to institute State the second arm 103；At this time, the quadric chain parallelogram of the embodiment of the present invention, the first arm 102 and second connecting rod 104 Posture it is identical, the second arm 103 is identical with the posture of first connecting rod 105, and the calculating of end can be based on first connecting rod length, first Angle is quickly drawn between arm lengths, the second arm lengths, first connecting rod and the first arm, makes the design of software and control more simple It is single.

The wu-zhi-shan pig for the embodiment of the present invention is located at the modular construction introduction above platform above, implements in the present invention In example, the quadric chain of component composition that should be above platform has two dynamic connecting rods, is respectively the first arm 102 and first Connecting rod 105, by controlling the movement of the first arm 102 and first connecting rod 105, it can be achieved that the movement of 103 end of the second arm, right below The driving of first arm and first connecting rod is introduced.

Fig. 9 shows the partial enlarged view of the first connecting rod drive component of the embodiment of the present invention.The first connecting rod driving Component includes first connecting rod driving base 130, first connecting rod driving motor 131, first connecting rod drive connection part 133, first and connects Bar drives screw 134 and first connecting rod driving sliding block 135；

The first connecting rod driving base 130 is hinged on the x negative senses of the platform, and hinge joint drives base for first connecting rod Hinge joint 120.First connecting rod driving motor 131 is fixed on the first connecting rod driving base 130；First connecting rod drives motor 131 shaft is stretched into first connecting rod driving base 130；First connecting rod driving screw 134 and first connecting rod the driving sliding block 135 are installed in first connecting rod cover of driver 136, and the first connecting rod driving sliding block 135 is sleeved on the first connecting rod driving silk On bar 134, the first connecting rod drive connection part 133 is connected fixation with first connecting rod driving sliding block 135；Described first connects Bar drive connection part 133 and first connecting rod driving screw 134 are coaxial, and are connected fixation with 105 beginning of first connecting rod；

The first connecting rod cover of driver 136 is fixed in described first side by side with first connecting rod driving motor 131 and connects On bar driving base 130；The shaft of the first connecting rod driving motor 131 and one end of first connecting rod driving screw 134 Connect and be driven based on gear in first connecting rod driving base 130.

In specific implementation, motor 131 is driven to drive first connecting rod to drive screw 134 to rotate by first connecting rod, and drive First connecting rod drives axial movement of the sliding block 135 along first connecting rod driving screw 134；First connecting rod drive connection part 133 is subject to First connecting rod driving sliding block 135 drives and is rotated around the first base shaft, drives first connecting rod to turn around the first base by lever principle Axis rotates.

Similarly, the first arm drive component structure is identical with first connecting rod drive component structure, wherein, first connecting rod driving bottom Seat hinge joint 129 and first connecting rod driving base hinge joint 120 is standing is placed in one parallel on the straight line of y-axis, and using one The mode of processing is set, remaining structure member is identical, is not repeated to be introduced.

It should be noted that when first connecting rod driving screw is in same straight line with first connecting rod axis, or the first arm drives When dynamic screw be in same straight line with the first arm, the wu-zhi-shan pig of the embodiment of the present invention can move dead band with one, and first Connecting rod or the first arm effectively can not be controlled and be moved；Therefore, in specific implementation, first connecting rod connector and first Arm connector is usually arranged as respectively at first connecting rod and the first arm not on the same line, to avoid the situation occurs.

The rotating base module below platform is pointed to below to be introduced.

Fig. 1 shows rotating base module three dimensional structure diagram of the embodiment of the present invention, and Figure 10 shows implementation of the present invention The rotating base module full sectional view of example, wherein, since the sectional view of retarder 207 is complex, in overall structure figure upper table Up to unintelligible, behind can be introduced with regard to the concrete structure of retarder 207.

Rotating base module provided in an embodiment of the present invention includes rotating base motor 206, retarder 207, shaft coupling Device 208, platform 101.

The shell of rotating base motor 206 is fixed on a rotating base electric machine support 201, and shaft is arranged simultaneously along z is positive It is connected with the input terminal of the retarder.In embodiments of the present invention, rotating base electric machine support 201 functions simultaneously as whole rotation The supporting item of base module, therefore, the rotating base electric machine support 201 of the embodiment of the present invention is barrel-shaped, and bottom plate deviates from the center of circle Stretch out, multiple ribs are provided between bottom plate and rotating base electric machine support 201, to provide more preferable stability Can, in specific implementation, which can be integrally machined by way of casting, in addition, in the rotation The top of base electrical machinery stent 201 is covered by the top plate that one piece of middle part is provided with through hole, solid being provided for reducer stent 202 While fixed point, the entrance of dust is reduced.Rotating base motor 201 is fixed in 201 inner cavity of rotating base electric machine support, specifically Position is on the middle part of bottom plate, shaft is positive towards z.

In specific implementation, with reference to the rotating base modular structure feature of the embodiment of the present invention, rotating base electric machine support 201 Reducer stent 202, the coupling support stand 203 introduced hereinafter can be molded by integrally casting, to strengthen rotating base The integral rigidity of module.

Above rotating base motor 206 for retarder 207, input terminal and the rotating base motor 206 of retarder 207 Shaft connection, the input terminal of output terminal and shaft coupling connects.

The retarder of the embodiment of the present invention is installed on the middle part of reducer stent 202, and Figure 11 shows the embodiment of the present invention Retarder see-through view one because retarder has symmetry, therefore the view of symmetrical plane wherein side is only shown, just In understanding.The retarder of the embodiment of the present invention includes 211, two speed reducer housing 216, input shaft 210, input gear spur gears 213rd, two crank axles 212, the first planet carrier 214, the number of teeth equal the first RV gears 218 and the 2nd RV gears 219, the second row Carrier 226.

It is positive from z negative senses to z inside speed reducer housing 216, it is sequentially installed with the second planet carrier 226, the 2nd RV gears 219th, the first RV gears 218, the first planet carrier 214.

Wherein, the angular contact bearing 215 of 226 and second planet carrier 214 of the first planet carrier based on periphery is installed on institute State 216 inner wall of speed reducer housing；216 inner wall of speed reducer housing corresponds to the first RV gears 218, the 2nd RV gears On 219 position, more than the first RV gears and the 2nd RV number of gear teeth quantity one pin tooth 217 is uniformly installed.

Middle part is provided with the input gear through hole 261 rotated for input gear, the input on first planet carrier 214 Gear hole symmetrically extends outward the spur gear through hole 262 rotated for spur gear；Input gear 211 leads to installed in input gear Kong Zhong, two spur gears 213 are separately mounted in two spur gear through holes；Two spur gears 213 are symmetrically arranged in the input Gear 211 is outer and is engaged with the input gear 211.

The input shaft 210 and two crank axles 212 sequentially pass through second planet carrier from shell z negative senses 226th, the 2nd RV gears 219, the first RV gears 218, the first planet carrier 214；210 end of input shaft is in the first row It is connected in the input gear through hole of carrier 214 and with input gear 211 therein, two crank axles, 212 end is in It is connected in the spur gear through hole of first planet carrier and respectively with described two spur gears 213 therein.

It should be noted that engaged between input gear and spur gear by straight-tooth, therefore, input gear and spur gear it Between only can be on x/y plane there are interaction force, therefore the active force on z directions, is set nearly close to zero carrying out structure When meter, Force Calculation etc. design, the active force on x/y plane need to be only considered emphatically；It is upward in z, it is only necessary to consider defeated Enter dead weight and the mounting means of gear and spur gear, and without carrying out being related to calculating of the z to stress.

The structure of two crank axles 212 is identical, wherein, every crank axle 212 includes being located at the crank axle both ends respectively Shaft and middle part the first crank portion, the second crank portion, since z negative senses, it is bent to be followed successively by the second shaft 225, second Shank 224, the first crank portion 223, first rotating shaft portion 222.

Wherein, spur gear 213 is installed on the end in first rotating shaft portion 222, can also be by first rotating shaft portion in specific implementation 222 end periphery is processed as straight-sided flank；Covered in first rotating shaft portion 222 between 213 and first crank portion 223 of spur gear There is taper roll bearing 220, crank axle 212 is connected based on the taper roll bearing 220 with the first planet carrier 214.Need Illustrate, the taper roll bearing 220 of two crank axles 212 on the position is connected with the first planet carrier 214 at the same time.

First crank portion 223 of crank axle 212 is connected based on needle bearing 221 with the first RV gears；The of crank axle 212 Two crank portions 224 are connected based on needle bearing 221 with the 2nd RV gears；It should be noted that the first of two crank axles 212 is bent Shank 223 is connected with the first RV gears at the same time, axisymmetrical of the link position on the first RV gears, due to two crank axles 212 the first crank portion 223 is respectively to turn to opposite eccentric rotational motion, and the movement locus of the first RV gears is transported for cycloid It is dynamic；Similarly, the movement locus of the 2nd RV gears is epicycloid track；Due to the first RV gears and the 2nd RV outer peripheral gears be and its The tooth of matched pin tooth, the first RV gears and the 2nd RV gears is engaged on pin tooth in succession, carries out the transmission of power.

Connection relation between each component of retarder above, the retarder of the embodiment of the present invention are in actual operation, main To be slowed down by prime and rear class deceleration forms

Prime is slowed down as by the spur-gear speed reducer structure formed between input gear and two spur gears；Rear class is slowed down main By the differential gear reduction unit structure formed between the pin tooth on crank axle, RV gears, shell.

In the spur-gear speed reducer structure of prime, input gear and spur gear slow down according to gear ratio, such as the present invention The input gear of embodiment is 12 teeth, and spur gear is 42 teeth, and speed reducing ratio 3.5, i.e. input shaft drive input gear to rotate 3.5 Circle, spur gear rotate 1 circle.

In the differential gear reduction unit structure of rear class, be specially cycloidal planetary gear speed reducer structure, the RV teeth of the embodiment of the present invention Tooth number is 39, and the pin number of teeth amount of decelerator shell is big compared with RV number of gear teeth by one, is 40；Crank axle circles, and RV gears and subtracts The angle of 1 tooth is relatively rotated between fast machine shell, i.e., is relatively rotated 1 week between RV gears and decelerator shell, crank axle needs Rotate 40 weeks, therefore, the speed reducing ratio of the differential gear reduction unit structure of rear class is 40, therefore, the retarder of the embodiment of the present invention Total reduction ratio be 140.

If the first planet carrier and the second planet carrier fixed, the shaft of crank axle is axially opposing to fix, at this time, can The output terminal of retarder is used as using speed reducer housing；If speed reducer housing fixed, the first planet carrier and the second planet Frame can be used as output terminal.In view of the environment of retarder installation, common embodiment uses for speed reducer housing is fixed The output terminal of one planet carrier and the second planet carrier as retarder.

In specific implementation, it is contemplated that the fixed form on component z directions in speed reducer housing, due to of the invention real The retarder for applying example relies primarily on the engagement transmission power of tooth, and is between input gear and spur gear, RB gears and tooth pin Straight-tooth coordinates, and the main stress on x/y plane of each component, therefore, z need to only provide certain support force upwards, ensures parts not Deviate from out of speed reducer housing.

Figure 13 shows the retarder see-through view two of the embodiment of the present invention, which is mainly used for showing the first row Connection mode between 214 and second planet carrier 226 of carrier.The embodiment of the present invention is by the first planet carrier 214, the second planet carrier Fit system between 226 and speed reducer housing 216 realizes parts in speed reducer housing in fixation upward z.It is specific fixed Mode is：

For first planet carrier 214 above its angular contact bearing 215, line footpath increase, angular contact bearing is pressed in gravity On；Second planet carrier 226 is based on 263 and first planet carrier 214 of screw through the 2nd RV gears 219 and the first RV gears 218 Connection fastening one；For second planet carrier below its angular contact bearing, line footpath increase, when screw 263 is locked, is pressed on corner connection On contact bearing.

Retarder top view of the embodiment of the present invention with reference to shown in Figure 12,214 He of the first planet carrier of the embodiment of the present invention Second planet carrier 226 is locked using four groups of screws 263 altogether, on the one hand, the first planet carrier 214 and the second planet carrier 226 it Between form a clamping force, the first RV gears therebetween and the 2nd RV gears are clamped, it is ensured that it can be corresponding to deceleration The pin tooth position of device shell puts engagement；On the other hand, the first planet carrier 214 and the second planet carrier 226 are respectively arranged in the first RV The both sides of gear and the 2nd RV gears, and be connected on two crank axles, what can more be balanced gives speed reducer housing in RB teeth The reaction force of wheel is exported.

In carrying out practically, input shaft 210 is input terminal；Input shaft 210 is connected with input gear 211, input gear 211 Rotating speed is identical with 210 rotating speed of input shaft；Input gear 211 is connected with spur gear 213 carries out prime deceleration.

Spur gear 213 drives crank axle 212 to rotate, and crank axle 212 drives the first RV gears 218 and the 2nd RV gears 219 Staggeredly swing, the pin tooth with decelerator shell is engaged in succession；Since the decelerator shell 216 of the embodiment of the present invention is fixed, The crank axle 212 that is embodied in that gear reducer rear class is slowed down slowly has enough to meet the need around input shaft；Due to the first planet carrier 214 and the second row Carrier 226 is connected with two crank axles 212, and therefore, the first planet carrier 214 is under the drive of crank axle 212, around input shaft 210 Slowly turnover, can be attached as output terminal with other parts.

Similarly, the second planet carrier 226 can also be used as output terminal.

From above-described reducer structure, the first planet carrier, the first RV gears, the 2nd RV gears and the second planet Between frame, z is mainly fixed by way of clamping upwards；When being operated due to the retarder, the first planet carrier, the first RV teeth Wheel, the 2nd RV gears and the second planet carrier mutually rotate each other, are mutually slided between contact surface, therefore, specifically In implementation, the first planet carrier, the first RV gears, the 2nd RV gears and the second planet carrier z to contact surface need to be processed into it is smooth Surface, to reduce frictional force.Due to the first planet carrier, the first RV gears, the 2nd RV gears and the second planet carrier material frequently with Metal material, therefore, when retarder is static, may occur molecular motion, form adhesion between smooth contact surface, easily right Retarder causes to wear.

Therefore, in specific implementation, can use on crank axle, the first planet carrier, the first RV gears, the 2nd RV gears and the Contact position between two planet carriers, increases packing ring, by the first planet carrier, the first RV gears, the 2nd RV gears and the second row Carrier separates；Increase packing ring after, the first planet carrier, the first RV gears, the 2nd RV gears can be formed each other it is certain between Gap, but since the contact area of packing ring and each component is less, when high-speed motion, easily occur abrasion and cause to be lost；Gasket wear is fallen The powder gone out is easily mixed into lubricating grease, and PERFORMANCE OF GREASES declines, and the performance of retarder is impacted.

And hence it is also possible on the z forward directions face and z negative senses face of the first RV gears and the 2nd RV gears, wear-resistant ceramic is set Coating.

Wear-resistant ceramic is using AL2O3 as primary raw material, using rare metal oxide as flux, is roasted through 1,700 degree of high temperature The extraordinary corundum ceramic formed, then the product being composed respectively with the organic/inorganic adhesive of specific rubber and high intensity are burnt, With hardness is big, wear-resisting property is fabulous, light-weight, bonding firmly, heat resistance is good etc., and good characteristics, structure are relatively stable. In the retarder of the embodiment of the present invention, for as the first planet carrier, the first RV gears, the 2nd RV gears and the second planet carrier it Between spacer medium, can prevent the first planet carrier, the first RV gears, the 2nd RV gears and the second planet carrier because long inactivity occur Molecular motion, forms adhesion；It should be noted that wear-resistant ceramic surface needs to polish smooth, with reducing friction resistance.

Further, the retarder of the embodiment of the present invention is mainly used in the application scenarios of heavier loads, have it is small, The features such as speed reducing ratio is big；It is relatively low when loading, when rotating speed is very fast, light-weight design can be carried out to the retarder, to mitigate the deceleration The amount of thinking highly of.

Figure 12 shows the top view of retarder of the embodiment of the present invention, and Figure 14 shows the embodiment of the present invention improved One planet carrier top view, the second planet carrier structure is similar with the first planet carrier structure, no longer does repetition introduction.In fig. 14, slightly Solid line represents the main forced position of main the first planet carrier of forced position, and the design on the first planet carrier 214 is as follows：

Be provided with first planet carrier 214 for accommodate input shaft 211 and input gear 211 input gear through hole 261, use In the spur gear through hole 262 for accommodating crank axle 212 and spur gear 213.In addition, in order to realize the peace of the first planet carrier 214 Dress and power output, are additionally provided with for the threaded hole of attachment screw 263 and the connection of the output for being connected with exterior components Hole 264.

The position of first planet carrier, 214 main stress includes what is exported connecting hole 264 and contacted with taper roll bearing 220 Taper roll bearing mounting surface 270, in the top view shown in Figure 14, due to the relation at visual angle, taper roll bearing mounting surface 270 are shown with dotted line.Wherein, export connector 264 to connect with exterior parts output, stress is larger；Circular cone rod Bearing mounting surface 270 is mainly subject to speed reducer housing to give the reaction force of crank axle through RV gears.Due to cone stick bearing Contacted between cone stick bearing mounting surface 270 for circumferentia, 270 main stress of cone stick bearing mounting surface is along crank The tangential direction of axis circular motion, by taking the clockwise movement direction shown in Figure 14 as an example, crank axle is given based on cone stick bearing Give shown in the arrow lead being oriented in Fig. 5 on cone stick bearing mounting surface 270 of the power of cone stick bearing mounting surface 270 Direction.

Figure 14 shows improved first planet carrier schematic top plan view.In specific implementation, in order to which the embodiment of the present invention subtracts The lightweight of fast device, can be provided with heat emission hole, on the one hand, mitigate the weight of planet carrier on the first planet carrier 214 and the second planet carrier Amount, so as to mitigate the weight of retarder；On the other hand, its exposed area is increased, for accelerating the radiating rate inside retarder, It can work under higher rotating speed.

It should be noted that in view of the loading characteristic of the first planet carrier described above, in order to avoid circular cone rod axis Mounting surface 270 and output connecting hole 264 are held because surrounding wall thickness is excessively thin, stress is concentrated and causes the damage of the first planet carrier, dissipates The setting of hot hole is excessively near from taper roll bearing mounting surface 270 and output connecting hole 264 because avoiding；In specific implementation, if circle The radius of the sub- bearing mounting surface 270 of conical stick is D1, then in order to avoid producing stress concentration, heat emission hole is installed away from cone stick bearing The distance in face 270 is at least 0.1D1；Similarly, exporting distance of the heat emission hole of 264 surrounding of connecting hole at least away from output connecting hole is / 10th of output connection bore dia.

Figure 15 shows improved first RV gear schematic top plan views.Similarly, in the first RV gears and the 2nd RV gears On heat emission hole can be also provided with the range of setting.In view of the first RV gears and the forced position of the 2nd RV gears, it is respectively The crank portion connecting hole 272 being connected with the first crank portion of crank axle or the second crank portion, thus, it is supposed that crank portion connecting hole 272 A diameter of D2, then distance of the heat emission hole away from crank portion connecting hole be at least 0.1D2；In addition, the first RV gears and second The forced position of RV gears further includes the tooth of surrounding, therefore, RV gears open up heat emission hole set it is further noted that heat emission hole with it is outer Between the bottom of the tooth circle of tooth, the high distance of a tooth is at least kept.

It should be noted that the heat dissipation hole shape of retarder provided in an embodiment of the present invention does not limit, can be directed to real Border loading demand and process requirements are designed, and by the perforated area of heat emission hole, make the retarder in load force and rotating speed Balance is obtained, to adapt to various operating modes.

Improved retarder, although because of the setting of heat emission hole, rated load, which is less than, does not open the specified load before heat emission hole Lotus, but due to weight saving and the setting of heat emission hole, be applicable to high speed light loading movement, advantageously reduce the production of the retarder Cost and the application scenarios for extending the retarder.

The retarder driven power input terminal of the embodiment of the present invention is passed by double reduction and two-stage altogether to power output end It is dynamic, it is that line contact or face contact, load are larger in deceleration and transmission at different levels；The arrangement of each parts takes full advantage of sky Between, the retarder is realized the deceleration of larger speed reducing ratio in less volume；The heat emission hole of planet carrier and RV gears is set, can Make the retarder using paramount rotating speed, low-load use occasion in, increase its scope of application.

Shaft coupling can be divided into two major class of positive coupling and flexible coupling.Positive coupling does not have resiliency and compensation The ability of two axial lines relative displacement, it is desirable to the stringent centering of two axis, but such coupler structure is simple, and manufacture cost is relatively low, assembly and disassembly It is easy to maintain, it is higher to neutrality to can guarantee that two axis have, transmission torque is larger, is widely used.It is common to have flange-face coupling, set Cylinder shaft coupling and clamping coupling etc..

Flexible coupling can be divided into Inelastic element flexible shaft coupling again and the flexible coupling that has elastic component, first a kind of Ability with compensation two axial lines relative displacement, but buffer shock-absorbing is unable to, it common are oldham coupling, gear coupling, ten thousand To shaft coupling and chain coupling etc.；Latter class has elastic component because containing, in addition to the ability with compensation two axial lines relative displacement, Also there is buffering and damping effect, but the torque transmitted be subject to flexible member intensity because being limited, it is general not as good as inelastic component Flexible coupling, common are rubbercushioned sleeve bearing coupling, elastic dowel pin shaft coupling, quincunx shaft coupling, coupling with rubber type element, Falk flexible coupling and flat spring coupling etc..

Figure 16 shows the coupler structure schematic diagram of the embodiment of the present invention.The embodiment of the present invention should using positive coupling Positive coupling includes coupling support stand 232, coupler casing 233, shaft coupling body 231, shaft coupling bottom cover 230, shaft coupling Bearing 236, shaft coupling retarder oil sealing 234；

The coupling support stand 232 is fixed on the reducer stent 202, and the coupler casing 233 is installed on institute State the middle part of coupling support stand 232；

The shaft coupling bottom cover 230 be installed on the z negative senses of the coupler casing 233 and with the first row of the retarder The connection of carrier 214 is fixed；The shaft coupling body 231z is positive to be connected fixation with the platform 101, specifically, with platform 101 Porous disc 205 connection fix.

The z forward directions of shaft coupling body 231 from the coupler casing 233 stretch into 233 inner cavity of coupler casing, from institute The z negative senses for stating coupler casing 233 are pierced by, and fixation is connected with the shaft coupling bottom cover 230；

234 quantity of shaft coupling retarder oil sealing is two, is respectively arranged in the shaft coupling body 231 and described On the positive contact positions with z negative senses of axis device shell 233z.

, can be between two shaft coupling retarder oil sealings 234 in order to avoid repeating the trouble of more oil change or lubricating grease Fill lubricating oil or lubricating grease 235.

Above the shaft coupling retarder oil sealing 234 positioned at z forward directions, shaft coupling bearing 236 is provided with, the shaft coupling bearing 236 are used to reduce frictional force during shaft coupling operation.

Platform 101 can be diversified forms, since the connection of platform 101 and shaft coupling 208 is is rigidly connected, longtime running In easily loosen, come off caused by the problems such as damage, fatigue.In order to reduce the maintenance cost of platform 101, in specific implementation, One porous disc 205 is installed on platform 101, porous disc 205 is based on fitting on platform 101,101 base of platform In porous disc 205 fixation is connected with shaft coupling body 205.Only need to change porous disc 205 when safeguarding, maintenance cost compared with It is low.

Wu-zhi-shan pig provided in an embodiment of the present invention, wherein rotating base module are first axle, are responsible for control platform Rotate；Since the retarder gear ratio of rotating base module is big, power load performance and running speed can carry out matching design, because This, can be suitably used for various working；First arm, the second arm, rounded end and rotation end are respectively the second axis of the wu-zhi-shan pig, Three axis, the 4th axis, the 5th axis, its driving element are installed on platform；Since weight is concentrated mainly on platform rather than arm On, when rotating base module rotates at a high speed, the inertia of arm is smaller, is conducive to the high-speed rotation of rotating base module；Meanwhile by In, without arrangement driving element, arm lighter in weight, therefore, can reach very high movement velocity on the first arm and the second arm..

The first arm of wu-zhi-shan pig provided in an embodiment of the present invention, the second arm, rounded end and the driving element at rotation end peace Loaded on platform, therefore, the first arm, the second arm, rounded end and the load of rotation end are less, can carry out high-speed motion；Meanwhile Due to the weight saving of arm, the rotatory inertia of arm is reduced, and rotating base module can also carry out high-speed motion；Rotating base module Retarder can carry out load and the balanced design of speed according to actual condition, to meet more working conditions, have well Practicality.

A kind of wu-zhi-shan pig provided above the embodiment of the present invention is described in detail, tool used herein Body example is set forth the principle of the present invention and embodiment, and the explanation of above example is only intended to help to understand this hair Bright method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, specific real There will be changes in mode and application range are applied, in conclusion this specification content should not be construed as the limit to the present invention System.

Claims

1. a kind of wu-zhi-shan pig, it is characterised in that including rotating base module, the first arm, the second arm, first connecting rod, second Connecting rod, the first arm drive component, first connecting rod drive component, rounded end, revolution driving component, revolution transmission component, rotation end, Rotation drive component and rotation transmission component；

The shell of the rotating base motor is fixed on a rotating base electric machine support, shaft along the positive arrangements of z and with it is described The input terminal connection of retarder；

The output terminal of the retarder and the input terminal of shaft coupling connect, and the output terminal of the shaft coupling is connected with the platform；

The platform is parallel with x/y plane, in the platform x forward, be provided with y to the first opposite base shaft connector and Second base shaft connector；

Between the first base shaft connector and the second base shaft connector opposite face, the first base shaft of a cylinder begins End is slidably mounted on the first base shaft connector；Second base shaft beginning of one cylinder is slidably mounted on described second On base shaft connector；The first base shaft axis and the second base shaft axis are conllinear and parallel with y-axis；

The first arm beginning is slide hinged in the first base shaft and/or the second base shaft, axis where articulated position For the first joint；The first arm end is hinged with the second arm beginning, and axis where articulated position is second joint；It is described Second arm end is hinged with the rounded end, and axis where articulated position is the 3rd joint；

The first connecting rod beginning is slide hinged in the first base shaft and/or the second base shaft, end and described second Connecting rod beginning is hinged；The second connecting rod end is articulated with the middle part of second arm or on end；First arm, the second arm, First connecting rod and second connecting rod form a quadric chain；

The first arm drive component is installed on the platform, for driving first arm to turn around the second base shaft It is dynamic；The first connecting rod drive component is installed on the platform, for driving the first connecting rod around the first base shaft Rotate；

The revolution transmission component includes the first revolution belt wheel, the second revolution belt wheel, the 3rd revolution belt wheel and returning for transmission Turn belt；

The first revolution belt wheel is fixed in the first base shaft, and the second revolution belt wheel is arranged on the second joint On, the 3rd revolution belt wheel is arranged on the 3rd joint, and the 3rd revolution belt wheel is connected fixation with the rounded end；

The revolution driving component is installed on the first base shaft connector y negative senses, and output terminal begins with the first base shaft End connection, drives the base shaft, the first revolution belt wheel, the second revolution belt wheel, the 3rd revolution belt wheel and rounded end to rotate；

The rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel, the 3rd rotation belt wheel, first bevel gear and the Two bevel gears；

The first rotation belt wheel is fixed in the second base shaft, and the second rotation belt wheel is arranged on the second joint On, the 3rd rotation belt wheel be arranged on the 3rd joint and with the described 3rd revolution belt wheel it is coaxial；

The first bevel gear is connected fixed and coaxial, the second bevel gear and the rotation end with the 3rd rotation belt wheel Coaxially connected fixation；The first bevel gear is engaged with the second bevel gear；

The rotation drive component is installed on the second base shaft connector y forward directions, and output terminal begins with the second base shaft End connection, drives the second base shaft, the first rotation belt wheel, the second rotation belt wheel, the 3rd rotation belt wheel and the first bevel gear Rotate synchronously and be based on first bevel gear and second bevel gear, drive the rotation end around own axis.

2. wu-zhi-shan pig as claimed in claim 1, it is characterised in that the retarder include speed reducer housing, input shaft, The first equal RV gears of input gear, two spur gears, two crank axles, the first planet carrier, the number of teeth and the 2nd RV gears, Two planet carriers；

It is positive from z negative senses to z inside the speed reducer housing, be sequentially installed with second planet carrier, the 2nd RV gears, First RV gears, the first planet carrier；

The angular contact bearing of first planet carrier and the second planet carrier based on periphery coordinates in the speed reducer housing inner wall；Institute State speed reducer housing inner wall to correspond on the position of the first RV gears, the 2nd RV gears, be uniformly provided with than described first The pin tooth of RV gears and the 2nd RV number of gear teeth quantity more one；

The input shaft and two crank axles sequentially pass through second planet carrier, second from speed reducer housing z negative senses RV gears, the first RV gears, the first planet carrier；

The input shaft end is in the through hole of first planet carrier and is connected with the input gear, two songs Arbor end is in the through hole of first planet carrier and is connected respectively with described two spur gears；

The crank axle is respectively first rotating shaft portion, the first crank portion, the second crank portion and the second shaft from z forward directions to z negative senses Portion；

In the crank axle, first rotating shaft portion periphery is coordinated in the logical of first planet carrier based on taper roll bearing Hole inner wall；The second shaft periphery coordinates the through-hole wall in second planet carrier based on taper roll bearing；It is described The axis collinear of first rotating shaft portion and the second shaft is simultaneously parallel with the input shaft axis；

First crank portion of two crank axles is based respectively on needle bearing and is connected with the first RV gears；Two songs Second crank portion of arbor is based respectively on needle bearing and is connected with the through-hole wall of the 2nd RV gears；

The first RV gears under the drive of two crank axles, are engaged on the pin tooth with the 2nd RV gears；

3. wu-zhi-shan pig as claimed in claim 2, it is characterised in that on first planet carrier, be provided with for power The output connecting hole of output and the cone stick bearing contact surface for cone stick bearing contact；

Distance of the heat emission hole away from the cone stick bearing contact surface, is at least the cone stick bearing contact surface diameter 1/10th.

4. wu-zhi-shan pig as claimed in claim 3, it is characterised in that on the first RV gears and the 2nd RV gears, It is respectively arranged with the crank portion connecting hole being connected with first crank portion of crank axle or the second crank portion；

Distance of the heat emission hole away from the crank portion connecting hole is at least 1/10th of the crank portion connection bore dia；

The distance of the bottom of the tooth circle of tooth of the heat emission hole away from the first RV gears, is at least the tooth of the tooth of the first RV gears It is high；

On the 2nd RV gears, the distance of the bottom of the tooth circle of tooth of the heat emission hole away from the 2nd RV gears, is at least institute The tooth for stating the tooth of the 2nd RV gears is high.

5. wu-zhi-shan pig as claimed in claim 4, it is characterised in that the first RV gears and the 2nd RV gears On z forward directions face and z negative senses face, abrasion-proof ceramic coat is respectively arranged with.

6. any one wu-zhi-shan pig as described in claim 1 to 5, it is characterised in that first arm and described second Connecting rod is parallel and equal length；The first connecting rod is parallel to second arm.

7. any one wu-zhi-shan pig as described in claim 1 to 5, it is characterised in that second arm lengths be more than or Equal to the first connecting rod length.

8. any one wu-zhi-shan pig as described in claim 1 to 5, it is characterised in that the first arm drive component bag The first arm driving base, the first arm driving motor, the first arm driving screw, the first arm driving sliding block and the first arm is included to be drivingly connected Part；

First arm driving screw and the first arm the driving sliding block is installed in one first arm cover of driver, the first arm driving On first arm driving screw, the first arm drive connection part is connected solid slide block set with first arm driving sliding block It is fixed；The first arm drive connection part is connected fixation with the first arm beginning, and coaxial with the screw；

The first arm cover of driver is fixed in side by side on the first arm driving base with first arm driving motor；It is described The shaft of first arm driving motor and one end of first arm driving screw are based on gear in first arm driving base Connection transmission；

9. any one wu-zhi-shan pig as described in claim 1 to 5, it is characterised in that the first connecting rod drive component Including first connecting rod driving base, first connecting rod driving motor, first connecting rod driving screw, first connecting rod driving sliding block and first Connecting rod drive connection part；

First connecting rod driving screw and first connecting rod the driving sliding block is installed in first connecting rod cover of driver, and described first connects Bar drives slide block set, and the first connecting rod drive connection part drives with the first connecting rod on first connecting rod driving screw Sliding block connection is fixed；The first connecting rod drive connection part is connected fixation with the first connecting rod beginning, and same with the screw Axis；

The first connecting rod cover of driver is fixed in the first connecting rod driving base side by side with first connecting rod driving motor On；The shaft of the first connecting rod driving motor and one end of first connecting rod driving screw drive bottom in the first connecting rod Based on gear connection transmission in seat；

10. any one wu-zhi-shan pig as described in claim 1 to 5, it is characterised in that first arm is open column shape Structure；Second arm is made of two piece of second arm cover board, passes through more than one second between two piece of second arm cover board The connection of arm fixing piece is fixed.