CN109664282B - Robot biaxial structure and robot - Google Patents
Robot biaxial structure and robot Download PDFInfo
- Publication number
- CN109664282B CN109664282B CN201910048617.3A CN201910048617A CN109664282B CN 109664282 B CN109664282 B CN 109664282B CN 201910048617 A CN201910048617 A CN 201910048617A CN 109664282 B CN109664282 B CN 109664282B
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- Prior art keywords
- speed reducer
- robot
- gear
- motor
- wave generator
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 52
- 238000007789 sealing Methods 0.000 claims abstract description 14
- 230000009467 reduction Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 11
- 230000003405 preventing effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B25J9/02—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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot biaxial structure and a robot, and belongs to the field of robotics. The robot two-shaft structure comprises a motor, a small arm, a large arm and a speed reducer, wherein a motor shell is arranged on one end face of a motor mounting flange, the other end face of the motor mounting flange is connected with the output end of the speed reducer, a motor driving shaft is connected with a wave generator of the speed reducer, the wave generator is in transmission connection with the input end of the speed reducer, the output end of the speed reducer is further connected with the small arm, and the fixed end of the speed reducer is connected with the large arm. Compared with the existing two-shaft structure of the SCARA four-shaft industrial robot, the connecting component between the motor shell and the output end of the speed reducer is reduced, the connecting mode of the motor shell and the speed reducer is optimized, the installation accuracy of the two shafts is improved, and the sealing structure between the motor shell and the output end of the speed reducer is reduced by one layer due to the reduction of the connecting component, so that the oil leakage preventing effect is better.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot biaxial structure and a robot.
Background
The traditional SCARA four-axis industrial robot biaxial structure speed reducer is fixed through a plurality of spare parts cooperation with the motor installation, and the excessive installation precision of connection cooperation spare part hardly guarantees to produce vibration noise and influences robot precision and receives the command easily, and spare part too much also causes sealedly comparatively difficult, appears the oil leak reduction gear damage condition easily, and installation and maintenance are dismantled comparatively complicated. The motor, the speed reducer and the small arm are connected at the most core part, but a motor shell in the existing two-shaft structure of the SCARA four-shaft industrial robot is usually firstly installed on the upper end face of a motor installation flange, the lower end face of the motor installation flange is connected with the small arm, and the small arm is connected with the output end of the speed reducer. Therefore, the motor and the speed reducer are connected with more parts, so that the installation accuracy is poor; and the more parts, the more sealing structures are needed, the more the sealing structures are needed, and the more difficult the sealing performance is ensured in the rotating process, so that the problem of easy oil leakage is caused.
Therefore, there is a need to provide a robot biaxial structure with less connecting members between the motor case and the decelerator and high mounting accuracy.
Disclosure of Invention
The invention aims to provide a robot two-shaft structure and a robot, so as to optimize the connection mode of a motor shell and a speed reducer, minimize the precision of connecting parts and better ensure the installation precision.
In order to achieve the above object, the following technical scheme is provided:
The invention provides a robot two-shaft structure which comprises a motor, a small arm, a large arm and a speed reducer, wherein a motor shell is arranged on one end face of a motor mounting flange, the other end face of the motor mounting flange is connected with the output end of the speed reducer, the speed reducer comprises a wave generator, a motor driving shaft is connected with the wave generator, the wave generator is in transmission connection with the input end of the speed reducer, the output end of the speed reducer is also connected with the small arm, and the fixed end of the speed reducer is connected with the large arm.
Further, the speed reducer is a harmonic gear speed reducer, the speed reducer further comprises a flexible gear and a rigid gear, rollers are arranged at two ends of the wave generator, the rollers are abutted to the inner wall of the flexible gear, the flexible gear is a gear capable of generating elastic deformation, and the rigid gear can be meshed with part of teeth on the flexible gear.
Further, the wave generator is a cam, the wave generator is arranged in a bearing, and the bearing is arranged in the flexspline.
Further, the small arm is connected with the rigid wheel; the large arm is fixedly connected with the flexible gear through bolts.
Further, the wave generator is connected with the motor driving shaft through a fixed flange.
Further, a sealing ring is arranged at the joint of the motor shell and the motor mounting flange.
Further, a sealing ring is arranged at the joint of the motor mounting flange and the speed reducer.
Further, a reinforcing gasket is arranged at the joint of the large arm and the flexible gear.
The invention also provides a robot, which comprises the robot biaxial structure according to any one of the technical schemes.
Compared with the prior art, the robot two-shaft structure provided by the invention has the advantages that the motor shell is connected with the upper end face of the motor mounting flange, the lower end face of the motor mounting flange is directly connected with the output end of the speed reducer, and the output end of the speed reducer is also connected with the forearm. Compared with the existing two-shaft structure of the SCARA four-shaft industrial robot, the connecting component between the motor shell and the output end of the speed reducer is reduced, the connecting mode of the motor shell and the speed reducer is optimized, the installation accuracy of the two shafts is improved, and the sealing structure between the motor shell and the output end of the speed reducer is reduced by one layer due to the reduction of the connecting component, so that the oil leakage preventing effect is better.
Drawings
Fig. 1 is a schematic diagram of a two-axis structure of a robot in an embodiment of the invention;
Fig. 2 is a schematic diagram of a two-axis structure of a robot in an embodiment of the invention;
FIG. 3 is a cross-sectional view taken along the direction A-A in FIG. 2;
fig. 4 is an enlarged view of a portion B in fig. 3.
Reference numerals: 1-a motor; 11-a motor housing; 12-motor drive shaft; 2-forearm; 3-big arm; 4-speed reducer; a 41-wave generator; 5-a motor mounting flange; 6-fixing the flange; 7-sealing rings.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment provides a robot two-axis structure which is mainly applied to a SCARA four-axis industrial robot. As shown in fig. 1-4, the robot two-shaft structure comprises a motor 1, a small arm 2, a large arm 3 and a speed reducer 4, wherein a motor housing 11 is arranged on the upper end face of a motor mounting flange 5, the lower end face of the motor mounting flange 5 is connected with the output end of the speed reducer 4, a motor driving shaft 12 is connected with a wave generator 41 of the speed reducer 4, the wave generator 41 is in transmission connection with the input end of the speed reducer 4, the output end of the speed reducer 4 is also connected with the small arm 2, and the fixed end of the speed reducer 4 is connected with the large arm 3. Compared with the existing two-axis structure of the SCARA four-axis industrial robot, the connecting component between the motor shell 11 and the output end of the speed reducer 4 is reduced, the connecting mode of the motor shell 11 and the speed reducer 4 is optimized, the installation accuracy of the two axes is improved, and the sealing structure between the motor shell 11 and the output end of the speed reducer is reduced by one layer due to the reduction of the connecting component, so that the oil leakage preventing effect is better.
The speed reducer 4 in the embodiment is a harmonic gear speed reducer, and the harmonic gear speed reducer is a novel speed reducer developed by utilizing a planetary gear transmission principle. The harmonic gear transmission (for short, harmonic transmission) is a planetary gear transmission which transmits power and motion by means of elastic mechanical waves generated by flexible parts, and when in operation, a flexible wheel is fixed, the motor 1 drives the wave generator 41 to rotate, and the rigid wheel is used as a driven wheel and outputs rotation to drive a load to move. The harmonic gear reducer in this embodiment includes a wave generator 41, a flexible gear (not shown in the figure) and a rigid gear (not shown in the figure), specifically, rollers are disposed at two ends of the wave generator 41, the rollers are abutted against the inner wall of the flexible gear, the flexible gear is a thin-walled gear capable of generating larger elastic deformation, and the diameter of the inner hole of the flexible gear is slightly smaller than the total length of the wave generator 41. The wave generator 41 is a generally elliptical cam, which is fitted into a thin-walled bearing, and then into a flexspline. When the wave generator 41 is installed in the flexible gear, the cross section of the flexible gear is forced to be changed into an ellipse from the original circular shape, and the rigid gear teeth matched with the flexible gear at the two ends of the major axis of the ellipse are in a complete meshing state, namely the external teeth of the flexible gear are meshed with the internal teeth of the rigid gear along the tooth height. At this time, about 30% of teeth are in the engaged state in the engaged region; the flexible gear teeth and the rigid gear teeth at the two ends of the elliptic short shaft are in a complete disengagement state, and are disengaged for short; the teeth of the flexspline between the major and minor axes of the wave generator 41 are progressively withdrawn from the teeth of the rigid spline, in different sections along the circumference of the flexspline, in a semi-disengaged condition, known as meshing. When the wave generator 41 rotates in the flexible gear, the flexible gear is forced to generate continuous elastic deformation, and at the moment, the continuous rotation of the wave generator 41 circularly and repeatedly changes the four states of engagement-disengagement of the flexible gear teeth to continuously change the original engagement state. This phenomenon is called staggered tooth motion, and it is this staggered tooth motion that acts as a speed reducer to change the input high-speed rotation into the output low-speed rotation. In this embodiment, the small arm 2 is connected to the outer side of the rigid wheel, the large arm 3 is connected to the flexible wheel through a bolt, when the wave generator 41 rotates, the flexible wheel is fixed, the fixed end of the speed reducer 4 is formed, the rigid wheel rotates, and the output end of the speed reducer 4 is formed, therefore, when the motor 1 rotates, the wave generator 41 is driven to rotate, the wave generator 41 drives the rigid wheel to rotate, and the small arm 2 is driven to rotate, and the large arm 3 is not moved.
Further, as shown in fig. 4, the wave generator 41 is connected to the motor drive shaft 12 through the fixing flange 6, specifically, the fixing flange 6 is provided to cover the end surfaces of the motor drive shaft 12 and the wave generator 41, the fixing flange 6 is fixedly connected to the motor drive shaft 12 through bolts, and both sides of the fixing flange 6 are also fixedly connected to the wave generator 41 through bolts.
In order to prevent oil leakage at the joint of the motor housing 11 and the motor mounting flange 5 and the joint of the motor mounting flange 5 and the speed reducer 4 in the process of rotating the motor 1 and the forearm 2 together, sealing rings 7 are arranged at the joint of the motor housing 11 and the motor mounting flange 5 and the joint of the motor mounting flange 5 and the speed reducer 4, and rubber sealing rings are selected as specific sealing rings 7.
In order to increase the connection strength of the large arm 3 and the flexible gear, as shown in fig. 4, a reinforcing gasket is arranged at the connection part of the large arm 3 and the flexible gear, so that the large arm 3 and the flexible gear are connected more reliably, and the safety of the large arm 3 and the small arm 2 in the relative rotation process is improved.
The embodiment also provides a robot, including the above-mentioned robot biaxial structure, the connection mode between motor housing 11 and reduction gear 4 in the biaxial structure of the robot of this kind of structure is optimized for connecting part is smart to be reduced to the minimum, has guaranteed the installation accuracy, has reduced the quantity of connection seal structure, has improved the leakproofness, has reduced the possibility of oil leakage.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (5)
1. The utility model provides a robot biaxial structure, includes motor (1), forearm (2), big arm (3) and reduction gear (4), its characterized in that, motor housing (11) are installed on one terminal surface of motor mounting flange (5), the other terminal surface of motor mounting flange (5) is connected with the output of reduction gear (4), reduction gear (4) include wave generator (41), motor drive shaft (12) with wave generator (41) are connected, wave generator (41) with the input transmission of reduction gear (4) is connected, the output of reduction gear (4) still with forearm (2) are connected, the stiff end of reduction gear (4) with big arm (3) are connected;
The speed reducer (4) is a harmonic gear speed reducer, and further comprises a flexible gear and a rigid gear, wherein rollers are arranged at two ends of the wave generator (41), the rollers are abutted against the inner wall of the flexible gear, the flexible gear is a gear capable of generating elastic deformation, and the rigid gear can be meshed with part of teeth on the flexible gear;
The wave generator (41) is a cam, the wave generator (41) is arranged in a bearing, and the bearing is arranged in the flexible gear;
The small arm (2) is connected with the rigid wheel; the large arm (3) is fixedly connected with the flexible gear through a bolt;
The wave generator (41) is connected to the motor drive shaft (12) via a fastening flange (6).
2. The robot two-axis structure according to claim 1, characterized in that a sealing ring (7) is provided at the connection of the motor housing (11) and the motor mounting flange (5).
3. The robot two-axis structure according to claim 1, characterized in that a sealing ring (7) is arranged at the connection of the motor mounting flange (5) and the speed reducer (4).
4. The robot biaxial structure according to claim 1, characterized in that the joint of the large arm (3) and the flexible wheel is provided with a reinforcing gasket.
5. A robot comprising the robot biaxial structure of any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048617.3A CN109664282B (en) | 2019-01-18 | 2019-01-18 | Robot biaxial structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048617.3A CN109664282B (en) | 2019-01-18 | 2019-01-18 | Robot biaxial structure and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109664282A CN109664282A (en) | 2019-04-23 |
| CN109664282B true CN109664282B (en) | 2024-05-28 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910048617.3A Active CN109664282B (en) | 2019-01-18 | 2019-01-18 | Robot biaxial structure and robot |
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| Country | Link |
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| CN (1) | CN109664282B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1951643A (en) * | 2005-10-18 | 2007-04-25 | 精工爱普生株式会社 | 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 |
| CN107363825A (en) * | 2017-08-25 | 2017-11-21 | 安徽大学 | Under-actuated 2R mechanical arm device based on harmonic deceleration |
| 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 |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | Robot joint 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/CN109664282B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1951643A (en) * | 2005-10-18 | 2007-04-25 | 精工爱普生株式会社 | 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 | Under-actuated 2R mechanical arm device based on harmonic deceleration |
| CN207593845U (en) * | 2017-11-06 | 2018-07-10 | 南昌大学 | A kind of thermosensitive moxibustion auxiliary mechanical arm |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | Robot joint driving mechanism and robot |
| 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 |
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| Publication number | Publication date |
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| CN109664282A (en) | 2019-04-23 |
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