CN108582163A - A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing - Google Patents
A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing Download PDFInfo
- Publication number
- CN108582163A CN108582163A CN201810670825.2A CN201810670825A CN108582163A CN 108582163 A CN108582163 A CN 108582163A CN 201810670825 A CN201810670825 A CN 201810670825A CN 108582163 A CN108582163 A CN 108582163A
- Authority
- CN
- China
- Prior art keywords
- proof
- dust
- robot
- pedestal
- stand structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007789 sealing Methods 0.000 title claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 41
- 229920001971 elastomer Polymers 0.000 claims abstract description 40
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 25
- 239000000463 material Substances 0.000 claims description 6
- 229920000459 Nitrile rubber Polymers 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005494 condensation Effects 0.000 description 2
- 238000009833 condensation Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/16—Sealings between relatively-moving surfaces
- F16J15/18—Sealings between relatively-moving surfaces with stuffing-boxes for elastic or plastic packings
- F16J15/181—Sealings between relatively-moving surfaces with stuffing-boxes for elastic or plastic packings for plastic packings
-
- 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
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/16—Sealings between relatively-moving surfaces
- F16J15/18—Sealings between relatively-moving surfaces with stuffing-boxes for elastic or plastic packings
- F16J15/184—Tightening mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing, including pedestal, RV speed reducers, swivel base, servo motor, motor gear, base cover plate, further include the dustproof waterproof type wire and cable connector being mounted on the base, the sheath mechanism that is separately mounted to across RV speed reducers and both ends on pedestal and swivel base, dustproof waterproof type wire and cable connector is connected with across and is pushed against the robot harness in sheath mechanism；Sheath mechanism includes RV sets, on RV sets outer ring and rubber sheath that the bearing and rotary shaft lip seal that are supported on swivel base, the harness fixed block assembly on RV set inner rings, screw lock contact on harness fixed block assembly inner ring and with robot harness.The present invention is protected using multiple-sealed circle, and the advantages of capable of being suitable for operation under dusty, have low manufacture cost, waterproof moisture-proof characteristic more preferably, total can play under dust wet environment to the effective protection of robot critical component.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specifically a kind of robot based on dust-proof moisture-proof sealing turns
Holder structure.
Background technology
With the fast development of Industrial Robot Technology, application also extends to rapidly various industries, and operating environment also becomes
Must be complicated various, wherein being no lack of the operating environment of dust humidity.It is well known that a large amount of existing machines without protection in the market
People's operation in such a case, the cable interface of dust infiltration or condensation vapor inside robot base, can have composition machine
The risk of device people's electric fault, secondly dust penetrates into or condensation vapor at RV reducer shell seal grooves is easy that seal groove is made to become rusty
It loses and causes speed reducer oil leak.
Currently, it is also more ripe (degree of protection IP67 or more) suitable for dusty, waterproof special purpose robot's technology, but
Robot higher price cannot form all-round popularization.
Therefore, there is an urgent need to a kind of robot joint structures completes dust humidity ring using the structure innovation of lower cost
To the protection of critical component under border.
Invention content
In order to avoid with solve above-mentioned technical problem, the present invention proposes a kind of robot based on dust-proof moisture-proof sealing and turns
Holder structure.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing, including the RV that pedestal, output end are connected with pedestal subtract
Fast machine, the swivel base being connected with RV speed reducers, the servo motor being connected on swivel base, on the output shaft of servo motor and with
The motor gear of RV speed reducers cooperation, the base cover plate being connected with pedestal, further include the dustproof and waterproof molded line being mounted on the base
Cable connector is separately mounted to the sheath mechanism on pedestal and swivel base, the dustproof and waterproof molded line across RV speed reducers and both ends
Cable connector is connected with across and is pushed against the robot harness in sheath mechanism.
Preferably, the sheath mechanism includes the RV sets being connected with pedestal, is covered on outer ring mounted on RV and be supported on swivel base
On bearing and rotary shaft lip seal, the harness fixed block assembly on RV set inner rings, screw lock it is solid in harness
The rubber sheath determined on block assembly inner ring and contacted with robot harness.The RV sets are the cylindrical body that tubing interception makes, and are used
Its contact with external module is avoided in protection robot harness.
Preferably, the junction of the pedestal and RV sets is equipped with O shape rubber seal c.
Preferably, the pedestal is equipped with the inner ring seal groove for placing O shape rubber seal c.
Preferably, the material of the harness fixed block assembly is nylon.The harness fixed block assembly is two and passes through spiral shell
Follow closely the semi-circular shape block of connection.
Preferably, the material of the rubber sheath is nitrile rubber.
Preferably, the junction of the pedestal and RV speed reducers is equipped with O shape rubber seal a.
Preferably, the pedestal is equipped with the outer ring seal groove for placing O shape rubber seal a.
Preferably, the junction of the swivel base and servo motor is equipped with O shape rubber seal b.
Preferably, the swivel base is equipped with the seal groove for placing O shape rubber seal b.
The beneficial effects of the invention are as follows：
The present invention, in conjunction with multiple tracks static seal and rotary seal, can be suitable under dusty by the way of interior external seal
Operation, the advantages of having low manufacture cost, waterproof moisture-proof characteristic more preferably, total can play right under dust wet environment
The effective protection of robot critical component.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is partial enlarged view at the I of Fig. 1；
Fig. 3 is partial enlarged view at the II of Fig. 1；
Fig. 4 is partial enlarged view at the III of Fig. 1；
Fig. 5 is partial enlarged view at the IV of Fig. 1；
Fig. 6 is the structural schematic diagram of harness fixed block assembly in the present invention；
Fig. 7 is the structural schematic diagram of rubber sheath in the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 7, a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing, including pedestal 1, output end
The RV speed reducers 3 that are connected with pedestal 1, the servo motor 7 being connected on swivel base 4, are mounted on the swivel base 4 being connected with RV speed reducers 3
On the output shaft of servo motor 7 and with the motor gear 5 coordinated of RV speed reducers 3, the base cover plate 15 that is connected with pedestal 1, also wrap
It includes the dustproof waterproof type wire and cable connector 16 on the pedestal 1, be separately mounted to 1 and of pedestal across RV speed reducers 3 and both ends
Sheath mechanism on swivel base 4, the machine that the dustproof waterproof type wire and cable connector 16 is connected with across and is pushed against in sheath mechanism
Device people harness 8.
The sheath mechanism includes the RV sets 13 being connected with pedestal 1, covers on 13 outer rings and be supported on swivel base 4 mounted on RV
Bearing 12 and rotary shaft lip seal 11, cover mounted on RV that harness fixed block assembly 10 on 13 inner rings, screw lock exists
The rubber sheath 9 contacted on 10 inner ring of harness fixed block assembly and with robot harness 8.The RV sets 13 make for tubing interception
Cylindrical body, the contact for protecting robot harness 8 to avoid it with external module.In use, rubber sheath 9 can avoid powder
Dirt or water enter in RV sets 13, realize the protection to robot harness 8；Rotary shaft lip seal 11 avoids dust or water from entering
In swivel base 4 and RV speed reducers 3, dust-proof damp proof protection is realized.
The junction of the pedestal 1 and RV sets 13 is equipped with O shape rubber seal c14.In this way, O shapes rubber is close
Seal c14 can prevent dust or water from entering RV speed reducers 3 out of pedestal 1, realize the dust-proof moisture-proof sealing to RV speed reducers 3.
The pedestal 1 is equipped with the inner ring seal groove 1b for placing O shape rubber seal c14.The inner ring seal groove 1b's
Depth is less than the thickness of O shape rubber seal c14, so that O shape rubber seal c14 to be tightly abutted against on RV sets 13, plays
Sealing function.
The material of the harness fixed block assembly 10 is nylon.The harness fixed block assembly 10 is two and is connected by screw
The semi-circular shape block connect is used for mounting robot harness 8.
The material of the rubber sheath 9 is nitrile rubber.
The pedestal 1 and the junction of RV speed reducers 3 are equipped with O shape rubber seal a2.In this way, O shapes rubber
Sealing ring a2 can prevent dust or water from entering the inside of RV speed reducers 3, realize the dust-proof moisture-proof sealing to RV speed reducers 3.
The pedestal 1 is equipped with the outer ring seal groove 1a for placing O shape rubber seal a2.The depth of the outer ring seal groove 1a
Thickness of the degree less than O shape rubber seal a2 plays close so that O shape rubber seal a2 to be tightly abutted against on RV speed reducers 3
Envelope acts on.
The swivel base 4 and the junction of servo motor 7 are equipped with O shape rubber seal b6.In this way, O shapes rubber
Sealing ring b6 can prevent dust in swivel base 4 or water from entering in servo motor 7, play to the dust-proof damp proof close of servo motor 7
Envelope.
The swivel base 4 is equipped with the seal groove 4a for placing O shape rubber seal b6.The depth of the seal groove 4a is less than O
The thickness of shape rubber seal b6 plays sealing function so that O shape rubber seal b6 to be tightly abutted against on servo motor 7.
When the present invention uses：
First, the pedestal 1 forms static seal by O shape rubber seal c14 and RV sets 13；The servo motor 7 is logical
It crosses O shape rubber seal b6 and forms static seal with swivel base 4；The swivel base 4 covers 13 shapes by rotary shaft lip seal 11 and RV
At rotary dynamic seal；The above completes the inner sealing of robot swivel base drive mechanism.
Secondly, the harness fixed block assembly 10 forms static seal by locking rubber sheath 9 with robot harness 8；Institute
Robot harness 8 is stated connection-peg is connect to form static seal by water proof type with dustproof waterproof type wire and cable connector 16；The RV
Speed reducer 3 forms rotary dynamic seal by O shape rubber seal a2 and pedestal 1；The above-mentioned external sealing for swivel base drive mechanism.
By the sealing of structure everywhere above, make the joint structure and external environment have it is a degree of be isolated, realize powder
To the protection of robot turning-stand structure for electric under dirt wet environment.
The present invention using multiple-sealed circle protection by the way of, can be suitable for dusty under operation, have low manufacture cost,
Waterproof moisture-proof characteristic more preferably the advantages of, total can play under dust wet environment to the effective of robot critical component
Protection.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing, including pedestal (1), output end are connected with pedestal (1)
RV speed reducers (3), the swivel base (4) being connected with RV speed reducers (3), the servo motor (7) being connected on swivel base (4), mounted on watching
It takes on the output shaft of motor (7) and the motor gear (5) coordinated with RV speed reducers (3), the base cover plate being connected with pedestal (1)
(15), it is characterised in that：Further include the dustproof waterproof type wire and cable connector (16) being mounted on pedestal (1), pass through RV speed reducers
(3) and both ends are separately mounted to the sheath mechanism on pedestal (1) and swivel base (4), the dustproof waterproof type wire and cable connector (16)
It is connected with across and is pushed against the robot harness (8) in sheath mechanism.
2. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 1, it is characterised in that：It is described
Sheath mechanism includes the RV sets (13) being connected with pedestal (1), is mounted on the axis on RV sets (13) outer ring and being supported on swivel base (4)
Hold (12) and rotary shaft lip seal (11), the harness fixed block assembly (10) being mounted on RV set (13) inner rings, screw lock
Tightly on harness fixed block assembly (10) inner ring and the rubber sheath (9) that is contacted with robot harness (8).
3. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 2, it is characterised in that：It is described
Pedestal (1) and the junction of RV sets (13) are equipped with O shape rubber seal c (14).
4. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 3, it is characterised in that：It is described
Pedestal (1) is equipped with the inner ring seal groove (1b) for placing O shape rubber seal c (14).
5. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 2, it is characterised in that：It is described
The material of harness fixed block assembly (10) is nylon.
6. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 2, it is characterised in that：It is described
The material of rubber sheath (9) is nitrile rubber.
7. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 1, it is characterised in that：It is described
Pedestal (1) and the junction of RV speed reducers (3) are equipped with O shape rubber seal a (2).
8. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 7, it is characterised in that：It is described
Pedestal (1) is equipped with the outer ring seal groove (1a) for placing O shape rubber seal a (2).
9. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 1, it is characterised in that：It is described
Swivel base (4) and the junction of servo motor (7) are equipped with O shape rubber seal b (6).
10. a kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing according to claim 9, it is characterised in that：Institute
It states swivel base (4) and is equipped with the seal groove (4a) for placing O shape rubber seal b (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810670825.2A CN108582163B (en) | 2018-06-26 | 2018-06-26 | Robot swivel mount structure based on dustproof damp proof seals |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810670825.2A CN108582163B (en) | 2018-06-26 | 2018-06-26 | Robot swivel mount structure based on dustproof damp proof seals |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108582163A true CN108582163A (en) | 2018-09-28 |
| CN108582163B CN108582163B (en) | 2024-08-20 |
Family
ID=63634370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810670825.2A Active CN108582163B (en) | 2018-06-26 | 2018-06-26 | Robot swivel mount structure based on dustproof damp proof seals |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582163B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253618A (en) * | 2019-07-08 | 2019-09-20 | 河海大学常州校区 | Joint of mechanical arm under a kind of motor-driven modular water |
| WO2020069653A1 (en) * | 2018-10-02 | 2020-04-09 | Shanghai Flexiv Robotics Technology Co., Ltd. | Sealing apparatus and articulated robot |
| CN111975760A (en) * | 2020-07-31 | 2020-11-24 | 西安航天精密机电研究所 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
| CN112247910A (en) * | 2020-10-23 | 2021-01-22 | 埃夫特智能装备股份有限公司 | Transformable industrial robot base swivel mount part assembly auxiliary tool |
| CN113557109A (en) * | 2019-03-15 | 2021-10-26 | 三菱电机株式会社 | Industrial robot |
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| CN205911894U (en) * | 2016-07-23 | 2017-01-25 | 浙江今跃机械科技开发有限公司 | Well casement RV speed reducer |
| CN208468436U (en) * | 2018-06-26 | 2019-02-05 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
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2018
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| US4659279A (en) * | 1984-12-24 | 1987-04-21 | Gmf Robotics Corporation | Robot with improved cable routing and clamping |
| US4864888A (en) * | 1987-04-13 | 1989-09-12 | Mitsubishi Denki Kabushiki Kaisha | Robot articulation joint |
| JPH07108485A (en) * | 1993-10-07 | 1995-04-25 | Fanuc Ltd | Rotary joint of robot and the like |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020069653A1 (en) * | 2018-10-02 | 2020-04-09 | Shanghai Flexiv Robotics Technology Co., Ltd. | Sealing apparatus and articulated robot |
| US11167433B2 (en) | 2018-10-02 | 2021-11-09 | Flexiv Ltd. | Sealing apparatus and articulated robot |
| CN113557109A (en) * | 2019-03-15 | 2021-10-26 | 三菱电机株式会社 | Industrial robot |
| CN110253618A (en) * | 2019-07-08 | 2019-09-20 | 河海大学常州校区 | Joint of mechanical arm under a kind of motor-driven modular water |
| CN111975760A (en) * | 2020-07-31 | 2020-11-24 | 西安航天精密机电研究所 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
| CN112247910A (en) * | 2020-10-23 | 2021-01-22 | 埃夫特智能装备股份有限公司 | Transformable industrial robot base swivel mount part assembly auxiliary tool |
| CN112247910B (en) * | 2020-10-23 | 2023-12-15 | 埃夫特智能装备股份有限公司 | Assembly auxiliary tool for swivel base part of interchangeable industrial robot base |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108582163B (en) | 2024-08-20 |
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