CN109227562A - A kind of industrial robot arm component - Google Patents
A kind of industrial robot arm component Download PDFInfo
- Publication number
- CN109227562A CN109227562A CN201811218003.7A CN201811218003A CN109227562A CN 109227562 A CN109227562 A CN 109227562A CN 201811218003 A CN201811218003 A CN 201811218003A CN 109227562 A CN109227562 A CN 109227562A
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- CN
- China
- Prior art keywords
- bearing
- gear
- steering wheel
- industrial robot
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a kind of industrial robot arm component, including body portion, shoulder and joint for connecting body portion and shoulder；The joint includes the main shaft bearing of the joint steering engine being located in body portion, the main shaft being located between body portion and shoulder and supports main shaft；The joint steering engine includes motor, motor case body, reduction case and steering wheel；First gear is provided on the output shaft of the motor, the first gear is engaged with the second gear being set between motor case body and reduction case, the second gear is fixed on jackshaft, the jackshaft is located in motor case body or reduction-gear housing body by bearing I, the jackshaft is further fixedly arranged on third gear, and the third gear is engaged with the 4th gear；The main shaft, which is fixedly connected with steering wheel and is driven by steering wheel, to be rotated；Structure of the invention is compact, small volume, and steering engine transmission in joint is bigger, increases output torque.
Description
Technical field
The present invention relates to industrial robot field, in particular to a kind of industrial robot arm component.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability；It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.Control unit of the steering engine as the direction of motion, appears in model airplane field earliest；Later, not with science and technology
Disconnected development, steering engine using more and more extensive.Not only in model airplane, also it can be seen that its application in other models:
It is used to control tail vane on ship model, is used to turn in vehicle mould.It can be seen that steering engine can be used when all needs operability movements
To realize.Also steering engine is applied in the arm of industrial robot realizes all kinds of joint motions.
The control circuit board (i.e. processing controller) of steering engine receives the control signal from Terminal Server Client, and control motor turns
Dynamic, motor drives series of gears group, drives output to steering wheel after deceleration.The output shaft and position feedback potentiometer of steering engine are phases
Even, while steering wheel rotates, position feedback potentiometer is driven, potentiometer will export a voltage signal to control circuit board,
It is fed back, then control circuit board determines direction and the speed of motor rotation according to position, thus reach target stopping,
Its workflow are as follows: control signal → control circuit board → motor rotation → gear set deceleration → steering wheel rotation → position feedback electricity
Position meter → control circuit board feedback.In the joint steering engine of existing industrial robot, joint steering engine is generally using multistage parallel axes circle
Column gear transmission, volume is more huge, transmission is smaller, output torque is smaller, it is difficult to which it is right in industrial robot joint to meet
The requirement of the small volume and large torque of steering engine.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of industrial robot arm component, compact-sized, volume compared with
It is small, transmission it is bigger, increase output torque, meet the requirement in industrial robot joint to the small volume and large torque of steering engine.
The technical solution adopted by the invention is as follows:
A kind of industrial robot arm component, including body portion, shoulder and joint for connecting body portion and shoulder；The joint packet
Include the main shaft bearing of the joint steering engine being located in body portion, the main shaft being located between body portion and shoulder and supports main shaft；The joint
Steering engine includes motor, motor case body, reduction case and steering wheel；First gear is provided on the output shaft of the motor, it is described
First gear is engaged with the second gear being set between motor case body and reduction case, and the second gear is fixed on centre
On axis, the jackshaft is located in motor case body or reduction-gear housing body by bearing I, and the jackshaft is further fixedly arranged on the
Three gears, the third gear are engaged with the 4th gear, and the 4th gear is provided at a cycloid in reduction-gear housing body
On the eccentric shaft of pin wheel gear, the Cycloidal pin-wheel drive mechanism and steering wheel are sequentially connected；The main shaft is fixed with steering wheel
It connects and is driven by steering wheel and rotated；
The Cycloidal pin-wheel drive mechanism further includes the second cycloid tooth that the first cycloid gear and the first cycloid gear are arranged symmetrically
Wheel, pin shaft and the needle tooth for being located at reduction case inner wall；
The eccentric shaft is stepped shaft structure and the first stepped part, second step ladder, the third ladder that are sequentially reduced including the diameter of axle
Portion, fourth order ladder portion and the 5th stepped part, the third stepped part and fourth order ladder portion constitute the capacity eccentric bearing position being arranged symmetrically；
4th geared sleeve is set to the first stepped part；It is arranged with bearing II in the second step ladder, is covered on the third stepped part
Equipped with bearing III, it is arranged with bearing IV in fourth order ladder portion, bearing V, and described are arranged on the 5th stepped part
Eccentric bushing is equipped between four-step portion and bearing IV；An end face on the steering wheel close to eccentric shaft is recessed for fixing axle
Hold V V fixed part of bearing；The circlip I for axial restraint bearing IV is equipped between the bearing IV and bearing V.
Further, the body portion, shoulder is made of metal material and its outer surface is covered with wearing layer, described wear-resisting
Layer is combined plating and the first copper coating including setting gradually from inside to outside, the first nickel coating, the second copper coating and the second nickel
Coating.
Further, first cycloid gear is mounted on bearing III and is meshed with needle tooth, second cycloid tooth
Wheel is mounted on bearing IV and is meshed with needle tooth；Steering wheel is fixed on the head of pin shaft, the inner ring of bearing II, body are fixed in tail portion
Portion passes through the guide in the first cycloid gear and the second cycloid gear wheel bore；The eccentric shaft passes through the driving of bearing II first
Cycloid gear and the second cycloid gear and needle tooth engagement, and pass through pin shaft for the first cycloid gear and the planet of the second cycloid gear
Movement is converted to System of Rotating about Fixed Axis and moves and export to steering wheel.
Further, the end face on the eccentric shaft close to motor is recessed solid for the bearing VI of fixing bearing VI
Determine portion, the bearing VI is set on the bearing block of the inwardly protruding formation of reduction-gear housing body sidewall.
Further, bearing VII is arranged on the steering wheel, the bearing VII is pressed together on Gearbox by plug screw
Oral area, the side opposite with plug screw of the bearing VII are equipped with the circlip II for axial restraint bearing VII；The steering wheel
It is equipped with sealing ring I between eccentric shaft, sealing ring II is equipped between the steering wheel and plug screw.
Further, the joint steering engine further includes TT&C system, and the TT&C system includes incremental encoder, absolutely compiles
Code device and it is positioned on the intracorporal control circuit board of motor housing, the motor, incremental encoder and absolute encoder are and control circuit
Plate is connected；The incremental encoder is mounted on the output shaft of motor with the motion information of detecting real-time output shaft and sends out information
It send to control circuit board；The absolute encoder is mounted on steering wheel and the motion information of detecting real-time steering wheel and sends information
To control circuit board；The control circuit board is equipped with communication port, and control circuit board passes through communication port and Terminal Server Client
Connect and receive the control signal of the control motor output shaft revolving speed of Terminal Server Client sending.
Further, it is equipped on the bearing block, eccentric shaft and steering wheel positioned at collinear through-hole, fixed link is from axis
It holds the through-hole on seat, eccentric shaft and steering wheel to sequentially pass through and be fixedly connected with steering wheel, the fixed link is located at the bar in bearing block
The mounting groove for installing absolute encoder is equipped in head；Bearing VIII is equipped between the head and bearing block.
Further, the fixed link is connected with steering wheel by screw thread pair.
Further, the incremental encoder is fixedly connected on the output shaft of motor by way of interference fit.
Further, the needle tooth is integrally provided on reduction case.
Further, the first gear is involute cylindrical gear, and the output shaft outer end passes through interference fit installation
First gear pressure welding is simultaneously connected by first gear.
Beneficial effects of the present invention: industrial robot arm component of the invention, it is common that joint steering engine uses two-stage
The gear deceleration adds the structure of level-one Cycloidal pin-wheel drive, due to using Cycloidal pin-wheel drive structure, so that the transmission of steering engine
It is longer than big, compact-sized, high-efficient, smooth running and service life, be conducive to increase output torque, meet in industrial robot joint
Requirement to the small volume and large torque of steering engine.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the embodiment of the present invention or the prior art
Attached drawing needed in description is briefly described, it should be apparent that, drawings described below is only of the invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the structural diagram of the present invention；
The structural schematic diagram of joint steering engine Fig. 2 of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.
Referring to Fig. 1, a kind of industrial robot arm component of the present embodiment, including body portion 110, shoulder 120 and for connecting
Connect the joint in body portion 110 Yu shoulder 120；The joint include the joint steering engine 210 being located in body portion 110, be located at body portion 110 with
The main shaft bearing 230 of main shaft 220 and supports main shaft 220 between shoulder 120；Body portion 110 is that the main body of industrial robot is close
The part of arm；Shoulder 120 is the top of arm；Each arm section below of shoulder 120 is omitted in the present embodiment.
Referring to fig. 2, the joint steering engine 210 includes motor 5, motor case body 1, reduction case 14 and steering wheel 28；It is described
Be provided with first gear 29 on the output shaft of motor 5, the first gear 29 be set to motor case body 1 and reduction case 14
Between the engagement of second gear (not shown), the second gear is fixed in jackshaft (not shown), it is described in
Between axis be located in motor case body 1 or reduction case 14 by I (not shown) of bearing, the jackshaft is also fixedly installed
There is third gear (not shown), the third gear is engaged with the 4th gear 11, and the 4th gear 11, which is provided at, to be subtracted
On the eccentric shaft of a Cycloidal pin-wheel drive mechanism in fast device cabinet 14, the Cycloidal pin-wheel drive mechanism and steering wheel 28 are driven
Connection；The main shaft 220, which is fixedly connected with steering wheel 28 and is driven by steering wheel 28, to be rotated.
Motor 5 is mounted in motor case body 1, and motor case body 1 open at one end is simultaneously cooperatively connected with end cap 2, and the other end is set
There are several axis holes and connecting hole cooperated with reduction case 14；Motor 5 is preferably DC brushless motor 5, response quickly,
Starting torque is larger, has the performance that can provide nominal torque from zero speed to rated speed；It is equipped in reduction case 14
Play several gear assemblies of decelerating effect, reduction case 14 open at one end is simultaneously cooperatively connected with steering wheel 28, and the other end is same
Sample is equipped with several axis holes and connecting hole cooperated with motor case body 1；The torque that motor 5 exports is transported to after gear assembly transmits
Steering wheel 28, so that steering wheel 28 be driven to rotate；First gear 29 is involute cylindrical gear, and output shaft outer end passes through interference fit peace
29 pressure welding of first gear is simultaneously connected by dress first gear 29, and stable connection degree is high, stable drive；Second gear and third gear can
For involute cylindrical gear；Second gear, jackshaft and third gear combination form dual gear structure, compact-sized, biography
It is dynamic than very big, small in size, light-weight, be conducive to the densification of joint steering engine 210；Jackshaft is installed on motor housing by bearing I
In the middle cavity of body 1 and reduction case 14；Bearing I can be deep groove ball bearing structure；Jackshaft is parallel with 5 output shaft of motor
Setting；Cycloidal pin-wheel drive mechanism includes eccentric shaft, and eccentric shaft is the power intake of Cycloidal pin-wheel drive mechanism；Joint steering engine
Slow down using two-stage ordinary gear and adds the structure of level-one Cycloidal pin-wheel drive, due to using Cycloidal pin-wheel drive structure,
So that the transmission ratio of joint steering engine is big, compact-sized, high-efficient, smooth running and service life are long, be conducive to increase output torque, it is full
Requirement of the sufficient industrial machine human arm to the small volume and large torque of steering engine.
The Cycloidal pin-wheel drive mechanism further includes the first cycloid gear 15, be arranged symmetrically with the first cycloid gear 15 the
Two cycloid gears 16, pin shaft 18 and the needle tooth 13 for being located at 14 inner wall of reduction case；The needle tooth 13 is preferably integrally provided on deceleration
Device cabinet 14 enhances the stationarity of transmission to improve the structural strength of needle tooth 13；The knot matched using two cycloid gears
Structure is conducive to improve bearing capacity and improves lubrication property, and transmission efficiency is higher；The eccentric shaft is stepped shaft structure and wraps
The first stepped part, second step ladder, third stepped part, fourth order ladder portion and the 5th stepped part that the diameter of axle is sequentially reduced are included, it is described
Third stepped part and fourth order ladder portion constitute the capacity eccentric bearing position being arranged symmetrically；4th gear 11 is sheathed on the first ladder
Portion, the 4th gear 11 are integrally located on eccentric shaft, to simplify steering engine structure, promote transmission performance；It is covered in the second step ladder
Equipped with bearing II 12, it is arranged with bearing III 19 on the third stepped part, bearing IV 20, institute are arranged in fourth order ladder portion
It states and is arranged with bearing V 22 on the 5th stepped part, and be equipped with eccentric bushing 30 between fourth order ladder portion and bearing IV 20；It is described
An end face on steering wheel 28 close to eccentric shaft is recessed V fixed part of bearing for fixing bearing V 22；The bearing IV 20
The circlip I 21 for axial restraint bearing IV 20 is equipped between bearing V 22；First cycloid gear 15 is mounted on
It is meshed on bearing III 19 and with needle tooth 13, second cycloid gear 16 is mounted on bearing IV 20 and nibbles with 13 phase of needle tooth
It closes；Steering wheel 28 is fixed on the head of pin shaft 18, the inner ring of bearing II 12 is fixed in tail portion, body portion 110 passes through the first cycloid
Guide 17 in 16 wheel bore of gear 15 and the second cycloid gear；The eccentric shaft drives the first cycloid gear 15 by bearing II 12
And second cycloid gear 16 engaged with needle tooth 13, and by pin shaft 18 by the first cycloid gear 15 and the row of the second cycloid gear 16
Luck turn is changed to System of Rotating about Fixed Axis and moves and export to steering wheel 28；Bearing III 19, bearing IV 20 can be deep groove ball bearing structure；
Head, body portion 110 and the tail portion of pin shaft 18 are sequentially connected and are integrally formed, and steering wheel 28 is equipped with the groove for accommodating head,
Head is crossed interference fit and is fixed in groove, and tail portion is fixed on II 12 inner ring of bearing, and the power of eccentric shaft is transferred to bias
Gear；This is compact-sized, and is conducive to improve stable drive degree.
An end face on the eccentric shaft close to motor 5 is recessed VI fixed part of bearing for fixing bearing VI 10,
The bearing VI 10 is set on the bearing block of the inwardly protruding formation of 14 side wall of reduction case；Eccentric shaft by bearing VI 10 and
Bearing V 22 is supported on reduction case 14 and steering wheel 28；Bearing VI 10 and bearing V 22 can be deep groove ball bearing structure；
This is compact-sized, and is conducive to improve stable drive degree.
Bearing VII 25 is arranged on the steering wheel 28, the bearing VII 25 is pressed together on Gearbox 14 by plug screw 27
Oral area, the side opposite with plug screw 27 of the bearing VII 25 are equipped with the circlip II 24 for axial restraint bearing VII 25；
It is equipped with sealing ring I 23 between the steering wheel 28 and eccentric shaft, sealing ring II 26 is equipped between the steering wheel 28 and plug screw.
The joint steering engine 210 further includes TT&C system, the TT&C system include incremental encoder, absolute encoder and
Control circuit board 4 in motor case body 1, the motor 5, incremental encoder 6 and absolute encoder 7 are and control circuit board
4 are connected；The incremental encoder 6 is mounted on the output shaft of motor 5 with the motion information of detecting real-time output shaft and by information
It is sent to control circuit board 4；The absolute encoder 7 is mounted on steering wheel 28 the simultaneously motion information of detecting real-time steering wheel 28 and will
Information is sent to control circuit board 4；The control circuit board 4 is equipped with communication port, and control circuit board 4 passes through communication port 3
The control signal of the control 5 output shaft revolving speed of motor of Terminal Server Client sending is connect and received with Terminal Server Client；Incremental encoding
Device 6 is fixedly connected on the output shaft of motor 5 by way of interference fit；The output revolving speed of the test motor 5 of incremental encoder 6
And angular displacement, absolute encoder 7 test the parameters such as torque, revolving speed, the angular displacement of steering wheel 28, by the transmitting of signal, realize this
The closed-loop intelligent control of steering engine.
Be equipped on the bearing block, eccentric shaft and steering wheel 28 positioned at collinear through-hole, fixed link 8 from bearing block,
Through-hole on eccentric shaft and steering wheel 28 is sequentially passed through and is fixedly connected with steering wheel 28, and the fixed link 8 is located at the bar in bearing block
The mounting groove for installing absolute encoder 7 is equipped in head；Bearing VIII 9 is equipped between the head and bearing block；Bearing VIII 9 can
For deep groove ball bearing structure；Mounting groove in the middle part of bearing block by being recessed, so that the installation of absolute encoder 7 is firm, and simplifies
The structure of machine；Fixed link 8 is equipped with screw thread；The fixed link 8 is connected with steering wheel 28 by screw thread pair, is easily installed and is torn open
It unloads.
The body portion 110, shoulder 120 are made of metal material and its outer surface is covered with wearing layer, the wearing layer
For combined plating and the first copper coating including setting gradually from inside to outside, the first nickel coating, the second copper coating and the plating of the second nickel
Layer；Each thickness degree of wearing layer can as needed depending on；Wearing layer makes the outer surface metal porosity in body portion 110, shoulder 120
It is greatly reduced with internal stress, copper coating and the alternate structure of nickel coating can also enhance the binding force between coating, improve body portion
110, extend coating service life while 120 wear-resisting property of shoulder.Certainly, even if non-wearing layer nor affects on above structure
It realizes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of industrial robot arm component, including body portion, shoulder and joint for connecting body portion and shoulder；The joint
Main shaft bearing including the joint steering engine being located in body portion, the main shaft being located between body portion and shoulder and supports main shaft；Its feature
Be: the joint steering engine includes motor, motor case body, reduction case and steering wheel；It is provided on the output shaft of the motor
First gear, the first gear are engaged with the second gear being set between motor case body and reduction case, and described second
Gear is fixed on jackshaft, and the jackshaft is located in motor case body or reduction-gear housing body by bearing I, the jackshaft
It is further fixedly arranged on third gear, the third gear is engaged with the 4th gear, and the 4th gear is provided at reduction-gear housing
On the eccentric shaft of an intracorporal Cycloidal pin-wheel drive mechanism, the Cycloidal pin-wheel drive mechanism and steering wheel are sequentially connected；It is described
Main shaft, which is fixedly connected with steering wheel and is driven by steering wheel, to be rotated；
The Cycloidal pin-wheel drive mechanism further includes the second cycloid tooth that the first cycloid gear and the first cycloid gear are arranged symmetrically
Wheel, pin shaft and the needle tooth for being located at reduction case inner wall；
The eccentric shaft is stepped shaft structure and the first stepped part, second step ladder, the third ladder that are sequentially reduced including the diameter of axle
Portion, fourth order ladder portion and the 5th stepped part, the third stepped part and fourth order ladder portion constitute the capacity eccentric bearing position being arranged symmetrically；
4th geared sleeve is set to the first stepped part；It is arranged with bearing II in the second step ladder, is covered on the third stepped part
Equipped with bearing III, it is arranged with bearing IV in fourth order ladder portion, bearing V, and described are arranged on the 5th stepped part
Eccentric bushing is equipped between four-step portion and bearing IV；An end face on the steering wheel close to eccentric shaft is recessed for fixing axle
Hold V V fixed part of bearing；The circlip I for axial restraint bearing IV is equipped between the bearing IV and bearing V；
First cycloid gear is mounted on bearing III and is meshed with needle tooth, and second cycloid gear is mounted on bearing IV
Above and with needle tooth it is meshed；Steering wheel is fixed on the head of pin shaft, the inner ring of bearing II is fixed in tail portion, body portion passes through first
Guide in cycloid gear and the second cycloid gear wheel bore；The eccentric shaft drives the first cycloid gear and second by bearing II
Cycloid gear and needle tooth engagement, and the planetary motion of the first cycloid gear and the second cycloid gear is converted to by dead axle by pin shaft
Rotary motion is simultaneously exported to steering wheel.
2. a kind of industrial robot arm component according to claim 1, it is characterised in that: the body portion, shoulder are just used
Metal material is made and its outer surface is covered with wearing layer, and the wearing layer is for combined plating and including setting gradually from inside to outside
The first copper coating, the first nickel coating, the second copper coating and the second nickel coating.
3. a kind of industrial robot arm component according to claim 2, it is characterised in that: close to electricity on the eccentric shaft
One end face of machine is recessed VI fixed part of bearing for fixing bearing VI, and the bearing VI is set in reduction-gear housing body sidewall
On the bearing block of inwardly protruding formation.
4. a kind of industrial robot arm component according to claim 3, it is characterised in that: be arranged with axis on the steering wheel
VII is held, the bearing VII is pressed together on the oral area of Gearbox by plug screw, and the side opposite with plug screw of the bearing VII is set
There is the circlip II for axial restraint bearing VII；Sealing ring I, the steering wheel and spiral shell are equipped between the steering wheel and eccentric shaft
Sealing ring II is equipped between plug.
5. a kind of industrial robot arm component according to claim 4, it is characterised in that: the steering engine further includes observing and controlling
System, the TT&C system include incremental encoder, absolute encoder and positioned on the intracorporal control circuit board of motor housing, the electricity
Machine, incremental encoder are connected with control circuit board with absolute encoder；The incremental encoder is mounted on the output shaft of motor
On with the motion information of detecting real-time output shaft and send information to control circuit board；The absolute encoder is mounted on steering wheel
Upper and detecting real-time steering wheel motion information simultaneously sends information to control circuit board；The control circuit board is equipped with communication ends
Mouthful, control circuit board is connect with Terminal Server Client by communication port and receives the control motor output shaft of Terminal Server Client sending
The control signal of revolving speed.
6. a kind of industrial robot arm component according to claim 5, it is characterised in that: the bearing block, eccentric shaft
And be equipped on steering wheel positioned at collinear through-hole, fixed link is sequentially passed through from the through-hole on bearing block, eccentric shaft and steering wheel
And be fixedly connected with steering wheel, the fixed link is located at the installation being equipped with the head in bearing block Nei for installing absolute encoder
Slot；Bearing VIII is equipped between the head and bearing block.
7. a kind of industrial robot arm component according to claim 6, it is characterised in that: the fixed link and steering wheel are logical
Screw thread pair is crossed to be connected.
8. a kind of industrial robot arm component according to claim 7, it is characterised in that: the incremental encoder passes through
The mode of interference fit is fixedly connected on the output shaft of motor.
9. a kind of industrial robot arm component according to claim 8, it is characterised in that: the needle tooth, which is integrally provided on, to be subtracted
Fast device cabinet.
10. a kind of industrial robot arm component according to claim 9, it is characterised in that: the first gear is gradually
Burst at the seams roller gear, and first gear pressure welding by interference fit installation first gear and is connected by the output shaft outer end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811218003.7A CN109227562A (en) | 2018-10-18 | 2018-10-18 | A kind of industrial robot arm component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811218003.7A CN109227562A (en) | 2018-10-18 | 2018-10-18 | A kind of industrial robot arm component |
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| CN109227562A true CN109227562A (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811218003.7A Withdrawn CN109227562A (en) | 2018-10-18 | 2018-10-18 | A kind of industrial robot arm component |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039569A (en) * | 2019-05-29 | 2019-07-23 | 广州煌牌自动设备有限公司 | A kind of joint of robot |
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Application publication date: 20190118 |