CN109015744A - Robot revolute mechanism and robot with it - Google Patents
Robot revolute mechanism and robot with it Download PDFInfo
- Publication number
- CN109015744A CN109015744A CN201811211061.7A CN201811211061A CN109015744A CN 109015744 A CN109015744 A CN 109015744A CN 201811211061 A CN201811211061 A CN 201811211061A CN 109015744 A CN109015744 A CN 109015744A
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- CN
- China
- Prior art keywords
- speed reducer
- bolt
- robot
- turntable
- connecting flange
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot revolute mechanism and with its robot.The robot revolute mechanism includes turntable, speed reducer and connecting flange, and connecting flange is arranged between turntable and speed reducer, and turntable is connect by connecting flange with speed reducer.Without opening up perforative bolt hole on turntable, the connection bolt of turntable and speed reducer will not be pierced by turntable and influence the arrangement of other structures on turntable and will not interfere with the other structures of upper robot.Solve the problems, such as that robot revolute mechanism in the prior art turntable and speed reducer are directly connected to influence other structures on turntable by bolt and are laid out.
Description
Technical field
The present invention relates to robot architecture fields, in particular to a kind of robot revolute mechanism and with its machine
Device people.
Background technique
The J1 axis of robot is generally rotating shaft.Phase is offered on current robot revolute mechanism turntable and speed reducer
Multiple first bolts hole for corresponding to and being intertwined, turntable by the first bolt group for being threaded through in multiple first bolts hole with subtract
Fast machine is directly connected to.The first bolt hole being provided on turntable will affect the arrangement of other structures on turntable, be installed simultaneously
The bolt head of the first bolt group is exposed at the outside of turntable afterwards, can interfere the other structures of the robot on top and influence beauty.
In addition, being also provided with perforative multiple second bolts hole on speed reducer, speed reducer is by being threaded through multiple second spiral shells
The second bolt group in keyhole is directly connected to pedestal, and the lubricating oil in speed reducer is caused to be easy by between speed reducer and pedestal
Mating surface leakage.
Summary of the invention
The main purpose of the present invention is to provide a kind of robot revolute mechanism and with its robot, at least to solve
Robot revolute mechanism in the prior art turntable and speed reducer are directly connected to influence other structures on turntable by bolt and are laid out
The problem of.
To achieve the goals above, according to the first aspect of the invention, a kind of robot revolute mechanism is provided, including
Turntable and speed reducer, robot revolute mechanism further include: connecting flange, connecting flange are arranged between turntable and speed reducer, turn
Disk is connect by connecting flange with speed reducer.
Further, robot revolute mechanism further include: the first connection bolt, the first connection bolt is multiple, Duo Ge
One connection bolt being provided at circumferentially spaced along connecting flange；Wherein, connecting flange passes through multiple first connection bolts and turntable phase
It connects.
Further, offer first annular step portion on the lateral wall of connecting flange, have on the lower end surface of turntable with
The matched first annular boss in first annular step portion, first annular boss are correspondingly embedded in first annular step portion；Wherein,
One connection bolt is at least partly arranged between first annular step portion and first annular boss.
Further, multiple first bolts hole, each first bolt hole and first annular step are offered on connecting flange
Portion is opposite；Wherein, the first connection bolt extends to first annular across the end portion of the first bolt hole and the first connection bolt
Connecting flange and turntable to be connected with each other in boss.
Further, robot revolute mechanism further include: the second connection bolt, the second connection bolt is multiple, Duo Ge
Two connection bolt being provided at circumferentially spaced along speed reducer；Wherein, speed reducer passes through multiple second connection bolts and connecting flange phase
It connects.
Further, offer the second annular step on connecting flange inner sidewall, the upper surface of speed reducer and side wall it
Between corner be correspondingly embedded in the second annular step；Wherein, second connection bolt be at least partly arranged in speed reducer with
In the opposite part of second annular step.
Further, multiple second bolts hole, multiple second bolts hole and the second annular step are offered on speed reducer
Relatively；Wherein, the second connection bolt passes through the second bolt hole and the end portion of the second connection bolt extends in connecting flange
Speed reducer and connecting flange to be connected with each other.
Further, robot revolute mechanism further include: pedestal, speed reducer are set on the base；Wherein, the upper end of pedestal
Face offers annular receiving groove, and the tail portion of multiple second connection bolts is at least partially disposed in annular receiving groove.
Further, robot revolute mechanism further include: pedestal, speed reducer are set on the base；Third connects bolt, the
Three connection bolts are multiple, multiple thirds connection bolt being provided at circumferentially spaced along pedestal；Wherein, speed reducer passes through multiple thirds
Connection bolt is connect with pedestal.
Further, pedestal includes: connecting plate, and third spiral shell corresponding with multiple thirds connection bolt is offered on connecting plate
Keyhole；Wherein, the end portion that third connection bolt passes through third bolt hole and third connection bolt extend in speed reducer with
Speed reducer is connect with pedestal.
Further, the upper surface of connecting plate offer with the second annular step, the lower end surface of speed reducer be provided with
Matched second annular convex platform of second annular step；Wherein, the second annular convex platform is correspondingly embedded in the second annular step.
According to the second aspect of the invention, a kind of robot, including robot revolute mechanism and robot master are provided
Body, for robot body's setting in robot revolute mechanism, robot revolute mechanism is above-mentioned robot revolute mechanism.
Using the robot revolute mechanism of technical solution of the present invention, including turntable, speed reducer and connecting flange, connecting flange
It is arranged between turntable and speed reducer, turntable is connect by connecting flange with speed reducer.Run through without being opened up on turntable
Bolt hole, the connection bolt of turntable and speed reducer will not be pierced by turntable and influence the arrangement of other structures on turntable and will not do
Relate to the other structures of upper robot.It is straight by bolt with speed reducer to solve robot revolute mechanism in the prior art turntable
The problem of influencing other structures layout on turntable is connect in succession.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of optional robot revolute mechanism according to embodiments of the present invention；And
Fig. 2 is the structural schematic diagram of optional robot according to embodiments of the present invention.
Wherein, the above drawings include the following reference numerals:
10, turntable；20, speed reducer；30, connecting flange；40, the first connection bolt；50, the second connection bolt；60, bottom
Seat；61, connecting plate；70, third connects bolt；80, robot body.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Robot revolute mechanism according to an embodiment of the present invention, as shown in Figure 1, including turntable 10, speed reducer 20 and connection
Flange 30, connecting flange 30 are arranged between turntable 10 and speed reducer 20, and turntable 10 is connected by connecting flange 30 and speed reducer 20
It connects.
Using the robot revolute mechanism of technical solution of the present invention, including turntable 10, speed reducer 20 and connecting flange 30, even
Acting flange 30 is arranged between turntable 10 and speed reducer 20, and turntable 10 is connect by connecting flange 30 with speed reducer 20.To nothing
Perforative bolt hole need to be opened up on turntable 10, the connection bolt of turntable 10 and speed reducer 20 will not be pierced by turntable 10 and influence to turn
The other structures of other structures arranged and will not interfere with upper robot on disk 10.It solves robot in the prior art to return
Rotation mechanism turntable 10 and speed reducer 20 are directly connected to influence the problem of other structures are laid out on turntable 10 by bolt.
When it is implemented, robot revolute mechanism further includes the first connection bolt 40, the first connection bolt 40 be it is multiple, it is more
A first connection being provided at circumferentially spaced along connecting flange 30 of bolt 40；Wherein, connecting flange 30 passes through multiple first connection spiral shells
Bolt 40 and turntable 10 are connected with each other；In order to guarantee the leakproofness of mating surface between connecting flange 30 and turntable 10, connecting flange 30
Lateral wall on offer first annular step portion, have on the lower end surface of turntable 10 and first annular step portion matched first
Annular convex platform, first annular boss are correspondingly embedded in first annular step portion to engage connecting flange 30 with turntable 10；Its
In, the first connection bolt 40 is at least partly arranged between first annular step portion and first annular boss.
Further, offer multiple first bolts hole on connecting flange 30, each first bolt hole with first annular
Rank portion is opposite；Wherein, the first connection bolt 40 passes through the first bolt hole and the end portion of the first connection bolt 40 extends to the
Connecting flange 30 and turntable 10 to be connected with each other in one annular convex platform.To make the end portion of the first connection bolt 40 will not
It is pierced by turntable 10 and interferes the other structures of robot upper part.
Further, robot revolute mechanism further includes the second connection bolt 50, the second connection bolt 50 be it is multiple, it is multiple
Second connection being provided at circumferentially spaced along speed reducer 20 of bolt 50；Wherein, speed reducer 20 by it is multiple second connection bolts 50 with
Connecting flange 30 is connected with each other；In order to guarantee the leakproofness of mating surface between speed reducer 20 and connecting flange 30, further, even
The second annular step is offered on 30 inner sidewall of acting flange, the corner between the upper surface and side wall of speed reducer 20 is corresponding embedding
Enter in the second annular step；Wherein, the second connection bolt 50 is at least partly arranged in speed reducer 20 and the second ring-shaped step
In the opposite part in portion.I.e. second connection bolt 50 is located at the outside of the first connection bolt 40.
Further, multiple second bolts hole, multiple second bolts hole and the second ring-shaped step are offered on speed reducer 20
Portion is opposite；Wherein, the second connection bolt 50 passes through the second bolt hole and the end portion of the second connection bolt 50 extends to connection
Speed reducer 20 and connecting flange 30 to be connected with each other in flange 30.To make the second connection bolt 50 not to be pierced by connecting flange
30 upper surface will not influence the installation of turntable 10.
Further, robot revolute mechanism further includes pedestal 60, and speed reducer 20 is arranged on pedestal 60, and pedestal 60 includes
The support base of connecting plate 61 and lower part, in order to guarantee leakproofness between speed reducer 20 and the mating surface of pedestal 60, connecting plate 61
Upper surface is offered to be provided with and the second annular step matched second with the second annular step, the lower end surface of speed reducer 20
Annular convex platform；Wherein, the second annular convex platform is correspondingly embedded in the second annular step.
Second connection bolt 50 passes through after speed reducer 20 connect with connecting flange 30, and second connects 50 tail portion of bolt and stay in and subtract
The outside of fast machine 20, in order to not influence installation of the speed reducer 20 on pedestal 60, the upper surface of the connecting plate 61 of pedestal 60 is opened up
There is annular receiving groove, the tail portion of multiple second connection bolts 50 is at least partially disposed in annular receiving groove, to prevent second
Connection bolt 50 influences speed reducer 20 and engages with the installation of pedestal 60.
In order to which speed reducer 20 to be fastened on pedestal 60, third connection bolt is provided on the lower end surface of connecting plate 61
70, it is multiple, multiple thirds connection being provided at circumferentially spaced along pedestal 60 of bolt 70 that third, which connects bolt 70,；Wherein, speed reducer
20 connect bolt 70 by multiple thirds connect with pedestal 60.Specifically, it is offered on connecting plate 61 and connect spiral shell with multiple thirds
The corresponding third bolt hole of bolt 70；Wherein, third connection bolt 70 passes through the end of third bolt hole and third connection bolt 70
It extends partially into speed reducer 20 so that speed reducer 20 to be connect with pedestal 60.It can prevent speed reducer 20 from oil leak occur.
According to the second aspect of the invention, a kind of robot is provided, as shown in Fig. 2, including robot revolute mechanism
With robot body 80, for the setting of robot body 80 in robot revolute mechanism, robot revolute mechanism is above-described embodiment
Robot revolute mechanism.Using the robot of the robot revolute mechanism of this above-described embodiment, without in robot revolute mechanism
Turntable 10 on open up perforative bolt hole, the connection bolt of turntable 10 and speed reducer 20 will not be pierced by turntable 10 and influence turntable
The other structures of other structures arranged and will not interfere with upper robot on 10.Solves robot revolute in the prior art
Mechanism turntable 10 and speed reducer 20 are directly connected to influence the problem of other structures are laid out on turntable 10 by bolt.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of robot revolute mechanism, including turntable (10) and speed reducer (20), which is characterized in that the robot revolute machine
Structure further include:
Connecting flange (30), the connecting flange (30) is arranged between the turntable (10) and the speed reducer (20), described
Turntable (10) is connect by the connecting flange (30) with the speed reducer (20).
2. robot revolute mechanism according to claim 1, which is characterized in that the robot revolute mechanism further include:
First connection bolt (40), it is described first connection bolt (40) be it is multiple, it is multiple it is described first connection bolt (40) along institute
State being provided at circumferentially spaced for connecting flange (30)；
Wherein, the connecting flange (30) is connected with each other by multiple first connections bolt (40) and the turntable (10).
3. robot revolute mechanism according to claim 2, which is characterized in that on the lateral wall of the connecting flange (30)
First annular step portion is offered, is had and the first annular step portion matched first on the lower end surface of the turntable (10)
Annular convex platform, the first annular boss are correspondingly embedded in the first annular step portion；
Wherein, it is described first connection bolt (40) be at least partly arranged in the first annular step portion with it is described first annular
Between boss.
4. robot revolute mechanism according to claim 3, which is characterized in that offered on the connecting flange (30) more
A first bolt hole, each first bolt hole are opposite with the first annular step portion；
Wherein, first connection bolt (40) passes through the end head of first bolt hole and first connection bolt (40)
Divide and extends in the first annular boss to be connected with each other the connecting flange (30) and the turntable (10).
5. robot revolute mechanism according to claim 2, which is characterized in that the robot revolute mechanism further include:
Second connection bolt (50), it is described second connection bolt (50) be it is multiple, it is multiple it is described second connection bolt (50) along institute
State being provided at circumferentially spaced for speed reducer (20)；
Wherein, the speed reducer (20) is mutually interconnected by multiple second connections bolt (50) with the connecting flange (30)
It connects.
6. robot revolute mechanism according to claim 5, which is characterized in that opened on connecting flange (30) inner sidewall
Equipped with the second annular step, the corner between the upper surface and side wall of the speed reducer (20) is correspondingly embedded in second ring
In shape stage portion；
Wherein, second connection bolt (50) is at least partly arranged in the speed reducer (20) and second ring-shaped step
In the opposite part in portion.
7. robot revolute mechanism according to claim 6, which is characterized in that offered on the speed reducer (20) multiple
Second bolt hole, multiple second bolts hole are opposite with second annular step；
Wherein, second connection bolt (50) passes through the end head of second bolt hole and second connection bolt (50)
Divide and extends in the connecting flange (30) to be connected with each other the speed reducer (20) and the connecting flange (30).
8. robot revolute mechanism according to claim 7, which is characterized in that the robot revolute mechanism further include:
Pedestal (60), the speed reducer (20) are arranged on the pedestal (60)；
Wherein, the upper surface of the pedestal (60) offers annular receiving groove, the tail portion of multiple second connections bolt (50)
Be at least partially disposed in the annular receiving groove.
9. robot revolute mechanism according to claim 1, which is characterized in that the robot revolute mechanism further include:
Pedestal (60), the speed reducer (20) are arranged on the pedestal (60)；
Third connects bolt (70), third connection bolt (70) be it is multiple, multiple thirds connections bolt (70) are along institute
State being provided at circumferentially spaced for pedestal (60)；
Wherein, the speed reducer (20) is connect by multiple third connections bolt (70) with the pedestal (60).
10. robot revolute mechanism according to claim 9, which is characterized in that the pedestal (60) includes:
Connecting plate (61) offers third bolt corresponding with multiple thirds connections bolt (70) on the connecting plate (61)
Hole；
Wherein, third connection bolt (70) passes through the end head of the third bolt hole and third connection bolt (70)
Divide and extends in the speed reducer (20) so that the speed reducer (20) to be connect with the pedestal (60).
11. robot revolute mechanism according to claim 10, which is characterized in that open the upper surface of the connecting plate (61)
It is provided with and second annular step matched equipped with the lower end surface with the second annular step, the speed reducer (20)
Second ring boss；
Wherein, second annular convex platform is correspondingly embedded in second annular step.
12. a kind of robot, including robot revolute mechanism and robot body (80), robot body (80) setting exists
In the robot revolute mechanism, which is characterized in that the robot revolute mechanism is described in any one of claims 1 to 11
Robot revolute mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811211061.7A CN109015744A (en) | 2018-10-17 | 2018-10-17 | Robot revolute mechanism and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811211061.7A CN109015744A (en) | 2018-10-17 | 2018-10-17 | Robot revolute mechanism and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015744A true CN109015744A (en) | 2018-12-18 |
Family
ID=64613222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811211061.7A Pending CN109015744A (en) | 2018-10-17 | 2018-10-17 | Robot revolute mechanism and robot with it |
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| Country | Link |
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| CN (1) | CN109015744A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1172450A (en) * | 1995-11-29 | 1998-02-04 | 株式会社安川电机 | Industrial robot |
| CN203248462U (en) * | 2013-05-16 | 2013-10-23 | 宁波东平齿轮制造有限公司 | Output flange applicable to hydraulic motor |
| CN104150168A (en) * | 2014-08-12 | 2014-11-19 | 成都大宏立机器股份有限公司 | Separably connected conveyor driving device |
| CN104913025A (en) * | 2015-06-11 | 2015-09-16 | 邓莉莉 | Transmission shaft structure for industrial robot |
| JP2015171292A (en) * | 2014-03-10 | 2015-09-28 | 株式会社ジェイテクト | actuator |
| CN105414691A (en) * | 2015-12-31 | 2016-03-23 | 无锡华联科技集团有限公司 | Barrel intersecting line cutting slewing mechanism |
| CN208914159U (en) * | 2018-10-17 | 2019-05-31 | 珠海格力智能装备有限公司 | Robot revolute mechanism and robot with it |
-
2018
- 2018-10-17 CN CN201811211061.7A patent/CN109015744A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1172450A (en) * | 1995-11-29 | 1998-02-04 | 株式会社安川电机 | Industrial robot |
| CN203248462U (en) * | 2013-05-16 | 2013-10-23 | 宁波东平齿轮制造有限公司 | Output flange applicable to hydraulic motor |
| JP2015171292A (en) * | 2014-03-10 | 2015-09-28 | 株式会社ジェイテクト | actuator |
| CN104150168A (en) * | 2014-08-12 | 2014-11-19 | 成都大宏立机器股份有限公司 | Separably connected conveyor driving device |
| CN104913025A (en) * | 2015-06-11 | 2015-09-16 | 邓莉莉 | Transmission shaft structure for industrial robot |
| CN105414691A (en) * | 2015-12-31 | 2016-03-23 | 无锡华联科技集团有限公司 | Barrel intersecting line cutting slewing mechanism |
| CN208914159U (en) * | 2018-10-17 | 2019-05-31 | 珠海格力智能装备有限公司 | Robot revolute mechanism and robot with it |
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