CN109664282A - Two axle construction of robot and robot - Google Patents
Two axle construction of robot and robot Download PDFInfo
- Publication number
- CN109664282A CN109664282A CN201910048617.3A CN201910048617A CN109664282A CN 109664282 A CN109664282 A CN 109664282A CN 201910048617 A CN201910048617 A CN 201910048617A CN 109664282 A CN109664282 A CN 109664282A
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- CN
- China
- Prior art keywords
- retarder
- axle construction
- motor
- robot
- gear
- 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.)
- Pending
Links
- 238000010276 construction Methods 0.000 title claims abstract description 28
- 210000000245 forearm Anatomy 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims abstract description 13
- 230000002787 reinforcement Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of two axle construction of robot and robots, belong to robot art field.Two axle construction of robot includes motor, forearm, large arm and retarder, motor housing is mounted on an end face of motor mounting flange, the other end of motor mounting flange and the output end of retarder connect, the connection of the wave producer of motor driving shaft and retarder, the transmission connection of the input terminal of wave producer and retarder, the output end of retarder is also connect with forearm, and the fixing end of retarder is connect with large arm.Compared with existing tetra- shaft industrial robot of SCARA, two axle construction, connecting component between motor housing and retarder output end of the invention is reduced, optimize the connection type of motor housing and retarder, improve the installation accuracy of two axis, because of the reduction of connecting component, sealing structure between motor housing and output end of reducer also reduces one layer, so that preventing oil leak effect more preferable.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of two axle construction of robot and robots.
Background technique
Traditional tetra- shaft industrial robot of SCARA, two axle construction retarder and motor installation are solid by the cooperation of multiple components
Fixed, the connection cooperation excessive installation accuracy of components is it is difficult to ensure that being easy to produce vibrating noise influences robot precision and receive a mandate, and zero
Component excessively also results in sealing more difficulty, is easy to appear oil leak retarder damaged condition, and installation and repair demolition are complex.
Wherein, the connection of motor, retarder and forearm is most crucial part, but tetra- shaft industrial robot of existing SCARA, two axis
Motor housing is usually first mounted on the upper surface of motor mounting flange in structure, and the lower end surface of motor mounting flange and forearm connect
It connects, forearm is connect with the output end of retarder again.The components connected between motor and retarder in this way are more, cause installation essence
It spends poor；And the junction between each connecting component will increase sealing structure during rotation, components are more, and what is needed is close
The problem of seal structure is more, and the guarantee of leakproofness during rotation is more difficult, causes easy oil leakage.
Accordingly, it is desirable to provide the robot that a kind of connecting component between motor housing and retarder is few, installation accuracy is high
Two axle construction.
Summary of the invention
The purpose of the present invention is to provide a kind of two axle construction of robot and robots, to realize optimization motor housing and subtract
The connection type of fast device reduces the number of connecting component minimized, preferably guarantees installation accuracy.
To achieve the above object, the following technical schemes are provided:
The present invention provides a kind of two axle construction of robot, including motor, forearm, large arm and retarder, motor housing peaces
On an end face of motor mounting flange, the other end of the motor mounting flange and the output end of retarder are connected, institute
Stating retarder includes wave producer, and motor driving shaft is connect with the wave producer, the wave producer and the retarder
Input terminal transmission connection, the output end of the retarder are also connect with the forearm, and the fixing end of retarder and the large arm connect
It connects.
Further, the retarder is harmonic gear reducer, further includes flexbile gear and firm gear, the wave producer two
End is provided with idler wheel, and the idler wheel is abutted with the inner wall of the flexbile gear, and the flexbile gear is the gear that can generate flexible deformation, institute
Stating firm gear can be with the part tooth engagement on the flexbile gear.
Further, the wave producer is cam, and the wave producer is arranged in bearing, and the bearing is arranged in institute
It states in flexbile gear.
Further, the forearm is connect with the firm gear；The large arm is fixedly connected by bolt with the flexbile gear.
Further, the wave producer passes through mounting flange and the motor driven axis connection.
Further, the junction of the motor housing and the motor mounting flange is provided with sealing ring.
Further, the junction of the motor mounting flange and the retarder is provided with sealing ring.
Further, the junction of the large arm and the flexbile gear is provided with reinforcement gasket.
The present invention also provides a kind of robots, including two axle construction of robot described in any of the above-described technical solution.
Compared with prior art, two axle construction of robot provided by the invention, wherein motor housing and motor mounting flange
Upper surface connection, the lower end surface of motor mounting flange directly connect with the output end of retarder, the output end of retarder also with
Forearm connection.Compared with existing tetra- shaft industrial robot of SCARA, two axle construction, motor housing of the invention and retarder are exported
Connecting component between end is reduced, and is optimized the connection type of motor housing and retarder, is improved the installation accuracy of two axis, because
For the reduction of connecting component, the sealing structure between motor housing and output end of reducer also reduces one layer, so that preventing oil leak
Effect is more preferable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of two axle construction of robot in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram two of two axle construction of robot in the embodiment of the present invention；
Fig. 3 be Fig. 2 in along A-A to cross-sectional view；
Fig. 4 is the enlarged drawing in the portion B in Fig. 3.
Appended drawing reference: 1- motor；11- motor housing；12- motor driving shaft；2- forearm；3- large arm；4- retarder；41-
Wave producer；5- motor mounting flange；6- mounting flange；7- sealing ring.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will be described in further detail in conjunction with technical solution of the attached drawing to the embodiment of the present invention, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
A kind of two axle construction of robot is present embodiments provided, which are mainly applied in tetra- shaft industrial robot of SCARA.Such as
Shown in Fig. 1-Fig. 4, two axle construction of robot includes motor 1, forearm 2, large arm 3 and retarder 4, wherein motor housing 11 is pacified
Mounted in the upper surface of motor mounting flange 5, the lower end surface of motor mounting flange 5 is connect with the output end of retarder 4, motor driven
Axis 12 is connect with the wave producer 41 of retarder 4, and the input terminal of wave producer 41 and retarder 4 is sequentially connected, retarder 4 it is defeated
Outlet is also connect with forearm 2, and the fixing end of retarder 4 is connect with large arm 3.With existing tetra- shaft industrial robot of SCARA, two axis
Structure is compared, and the connecting component between 4 output end of motor housing 11 and retarder of the present embodiment reduces, and is optimized outside motor
The connection type of shell 11 and retarder 4 improves the installation accuracy of two axis, because of the reduction of connecting component, motor housing 11 with
Sealing structure between output end of reducer also reduces one layer, so that preventing oil leak effect more preferable.
Retarder 4 in the present embodiment is harmonic gear reducer, and harmonic gear reducer is to utilize Planetary Gear Transmission
A kind of Novel reducer that principle grows up.Harmonic gear transmission (abbreviation harmonic drive), it is generated by flexible part
Elastic mechanical wave transmits a kind of Planetary Gear Transmission of power and movement, and when work, fixed flexbile gear drives wave hair by motor 1
Raw device 41 rotates, and firm gear drives load movement as driven wheel, output rotation.Harmonic gear reducer packet in the present embodiment
Wave producer 41, flexbile gear (not shown) and firm gear (not shown) are included, specifically, 41 both ends of wave producer are provided with rolling
Wheel, idler wheel are abutted with the inner wall of flexbile gear, and flexbile gear is the thin-wall gear that can produce larger flexible deformation, and diameter of bore is slightly less than wave
The overall length of generator 41.Cam is packed into thin-wall bearing, then is loaded by the cam of the usual ovalisation of wave producer 41
In flexbile gear.After wave producer 41 is packed into flexbile gear, the section of flexbile gear is forced to become ellipse by original circle at this time, it is oval
The matched firm gear tooth of the flexbile gear at long axis both ends is then in fully engaged state, i.e. the external tooth of flexbile gear and the internal tooth of firm gear is along tooth
Height engagement.At this moment region of engagement generally has 30% or so tooth to be in meshing state；The flexbile gear tooth and firm gear tooth at ellipse short shaft both ends
In fully unmated state, referred to as disengage；Flexbile gear tooth between 41 long axis of wave producer and short axle, along the difference of flexbile gear perimeter
In section, some is gradually backed out firm gear between cog, is in half disengaged condition, is referred to as to nibble out.Wave producer 41 rotates in flexbile gear
When, force flexbile gear to generate continuous flexible deformation, at this time the continuous rotation of wave producer 41, just make flexbile gear tooth it is engaging-in-nibble
Close-nibble out-disengage these four cycle of states and be back and forth constantly changing respectively original meshing state.This phenomenon is referred to as side set
Movement, exactly this side set move, and the high-speed rotation of input can be become to slowly running for output as retarder.This implementation
In example, forearm 2 is connected on the outside of firm gear, and large arm 3 is bolted on flexbile gear, and when wave producer 41 rotates, flexbile gear is solid
It is fixed motionless, the fixing end of retarder 4 is constituted, firm gear rotation constitutes the output end of retarder 4, therefore, and when motor 1 rotates, band
Dynamic wave producer 41 rotates, and wave producer 41 drives firm gear rotation, so that forearm 2 is driven to rotate, and large arm 3 is motionless.
Further, as shown in figure 4, wave producer 41 is connect by mounting flange 6 with motor driving shaft 12, specifically,
Mounting flange 6 covers on the end face for being located at motor driving shaft 12 and wave producer 41, by bolt by mounting flange 6 and motor driven
Axis 12 is fixedly connected, and mounting flange 6 is fixedly connected by two sides also by bolt with wave producer 41.
For prevent during motor 1 and forearm 2 rotate together the junction of motor housing 11 and motor mounting flange 5,
The junction of the junction oil leak of motor mounting flange 5 and retarder 4, motor housing 11 and motor mounting flange 5 and motor
The junction of mounting flange 5 and retarder 4 is provided with sealing ring 7, and specific sealing ring 7 selects rubber seal.
For the bonding strength for increasing large arm 3 and flexbile gear, padded as shown in figure 4, the junction of large arm 3 and flexbile gear is provided with reinforcement
Piece improves the safety in large arm 3 and 2 relative rotational motion of forearm so that large arm 3 and the connection of flexbile gear are more reliable.
The present embodiment additionally provides a kind of robot, including above-mentioned two axle construction of robot, the robot of this kind of structure
Two axle construction in motor housing 11 and retarder 4 between connection type by optimization so that connecting component is reduced the number of most
It is few, it ensure that installation accuracy, reduce the quantity of connection sealing structure, a possibility that improving leakproofness, reduce oil leak.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. a kind of two axle construction of robot, including motor (1), forearm (2), large arm (3) and retarder (4), which is characterized in that electricity
Machine shell (11) is mounted on an end face of motor mounting flange (5), the other end of the motor mounting flange (5) and deceleration
The output end of device (4) connects, and the retarder (4) includes wave producer (41), motor driving shaft (12) and the wave producer
(41) it connects, the input terminal of the wave producer (41) and the retarder (4) is sequentially connected, the output of the retarder (4)
End is also connect with the forearm (2), and the fixing end of retarder (4) is connect with the large arm (3).
2. two axle construction of robot according to claim 1, which is characterized in that the retarder (4) subtracts for harmonic gear
Fast device further includes flexbile gear and firm gear, and wave producer (41) both ends are provided with idler wheel, and the idler wheel is interior with the flexbile gear
Wall abuts, and the flexbile gear is the gear that can generate flexible deformation, and the firm gear can be with the part tooth engagement on the flexbile gear.
3. two axle construction of robot according to claim 2, which is characterized in that the wave producer (41) is cam, institute
It states wave producer (41) to be arranged in bearing, the bearing is arranged in the flexbile gear.
4. two axle construction of robot according to claim 2, which is characterized in that the forearm (2) connect with the firm gear；
The large arm (3) is fixedly connected by bolt with the flexbile gear.
5. two axle construction of robot according to claim 1, which is characterized in that the wave producer (41) passes through fixation
Blue (6) are connect with the motor driving shaft (12).
6. two axle construction of robot according to claim 1, which is characterized in that the motor housing (11) and the motor
The junction of mounting flange (5) is provided with sealing ring (7).
7. two axle construction of robot according to claim 1, which is characterized in that the motor mounting flange (5) with it is described
The junction of retarder (4) is provided with sealing ring (7).
8. two axle construction of robot according to claim 2, which is characterized in that the company of large arm (3) and the flexbile gear
The place of connecing is provided with reinforcement gasket.
9. a kind of robot, which is characterized in that including described in any item two axle construction of robot of claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048617.3A CN109664282A (en) | 2019-01-18 | 2019-01-18 | Two axle construction of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048617.3A CN109664282A (en) | 2019-01-18 | 2019-01-18 | Two axle construction of robot and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664282A true CN109664282A (en) | 2019-04-23 |
Family
ID=66150060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910048617.3A Pending CN109664282A (en) | 2019-01-18 | 2019-01-18 | Two axle construction of robot and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664282A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394789A (en) * | 2019-08-29 | 2019-11-01 | 广东拓斯达科技股份有限公司 | A kind of robot arm, robot and robot arm installation method |
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| CN204748646U (en) * | 2015-07-02 | 2015-11-11 | 成都三译智能技术有限公司 | Robot joint reduction gear |
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| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot driving mechanism and robot |
| CN207593845U (en) * | 2017-11-06 | 2018-07-10 | 南昌大学 | A kind of thermosensitive moxibustion auxiliary mechanical arm |
| CN209408490U (en) * | 2019-01-18 | 2019-09-20 | 广东拓斯达科技股份有限公司 | Two axle construction of robot and robot |
-
2019
- 2019-01-18 CN CN201910048617.3A patent/CN109664282A/en active Pending
Patent Citations (11)
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| CN1951643A (en) * | 2005-10-18 | 2007-04-25 | 精工爱普生株式会社 | Parallel link mechanism and industrial robot |
| US20070110554A1 (en) * | 2005-10-18 | 2007-05-17 | Seiko Epson Corporation | Parallel link mechanism and industrial robot |
| CN204604317U (en) * | 2015-04-29 | 2015-09-02 | 佛山市万世德机器人技术有限公司 | A kind of manipulator for robot of casing |
| CN204748646U (en) * | 2015-07-02 | 2015-11-11 | 成都三译智能技术有限公司 | Robot joint reduction gear |
| CN205086001U (en) * | 2015-09-24 | 2016-03-16 | 深圳松健机器人有限公司 | Robot manipulator's wrist joint and drive module's connection structure |
| CN205835337U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of six-joint robot |
| CN206738541U (en) * | 2017-04-24 | 2017-12-12 | 大族激光科技产业集团股份有限公司 | Robot, joint of robot and its harmonic speed reducer |
| CN107363825A (en) * | 2017-08-25 | 2017-11-21 | 安徽大学 | A kind of drive lacking 2R robot arm devices based on harmonic reduction |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394789A (en) * | 2019-08-29 | 2019-11-01 | 广东拓斯达科技股份有限公司 | A kind of robot arm, robot and robot arm installation method |
| CN110394789B (en) * | 2019-08-29 | 2024-04-09 | 广东拓斯达科技股份有限公司 | Robot arm, robot and robot arm mounting method |
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