CN110421554A - A kind of crusing robot transmission device - Google Patents
A kind of crusing robot transmission device Download PDFInfo
- Publication number
- CN110421554A CN110421554A CN201910821729.8A CN201910821729A CN110421554A CN 110421554 A CN110421554 A CN 110421554A CN 201910821729 A CN201910821729 A CN 201910821729A CN 110421554 A CN110421554 A CN 110421554A
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- axis
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- bushing
- transmission device
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 48
- 238000009434 installation Methods 0.000 claims abstract description 32
- 238000007789 sealing Methods 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 29
- 239000007787 solid Substances 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000004880 explosion Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 206010044565 Tremor Diseases 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000013011 mating Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000930 thermomechanical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled 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)
- Manipulator (AREA)
Abstract
The invention belongs to robot transmission technical fields, it is related to a kind of crusing robot transmission device, it include: that electric machine assembly, installation pedestal component and transmission shaft component, electric machine assembly are fixedly connected with installation pedestal component, electric machine assembly, installation pedestal component are connect with transmission shaft component respectively；By the design to installation pedestal component, integrated design is realized under the premise of guaranteeing that transmission device meets national II class requirement of explosion proof and IP65 sealing grade；Pump nozzle is installed by the outer wall in motor fixing seat, can reduce the abrasion of axis periodically to make-up oil inside axis by pump nozzle and reduce the friction noise in axis motion process；Three bearings that installation pedestal component and transmission shaft component mating reaction are formed form the support of axle power square, are effectively prevented axis and tremble in the case where movement and big torque deformation.
Description
Technical field
The invention belongs to robot transmission technical fields, are related to a kind of robot transmission device more particularly to a kind of inspection
Robot transmission device.
Background technique
Currently, every profession and trade has all formulated stringent inspection system, but inspection according to own situation in post patrol worker work
The quality examination of work is in urgent need to be improved, and due to lacking necessary supervision work, there are a series of security risks.With work
The development of industry automation, while in order to mitigate the labor intensity of employee, the status of recruitment hardly possible is solved, crusing robot technology is developed
It is imperative.
The danger industry such as existing petroleum, coal, chemical industry, oil depot and fire-fighting, every year due to safety accident to personnel and
Assets bring immeasurable loss.Therefore, these industries there is an urgent need to a kind of new intelligent digitalized product replace manually from
The each dangerous work post of thing.Under this requirement background, the birth of explosion-proof crusing robot timely and effectively solves the above industry
Puzzlement.And the transmission device of existing crusing robot, production installation, Task of Debugging are complicated, whole design transmission is not stable enough.
Summary of the invention
It is an object of the invention to overcome the above-mentioned prior art, a kind of crusing robot transmission device is provided, is accorded with
National II class requirement of explosion proof is closed, there is dustproof and waterproof function, and transmission device entirety stable drive, low noise, precision are high, operation
Stablize.
To achieve the above object, the present invention provides the following technical scheme that
A kind of crusing robot transmission device, comprising: electric machine assembly, installation pedestal component and transmission shaft component, the electricity
Thermomechanical components are fixedly connected with installation pedestal component, and the electric machine assembly, installation pedestal component are connect with transmission shaft component respectively；
The installation pedestal component includes: motor fixing seat and bushing, described bushing to be equipped with seal groove, seal groove and first
Sealing ring cooperation is tightly connected bushing and motor fixing seat；
The first axle sleeve stepped hole, first bearing stepped hole and retainer ring spacing slot are respectively equipped with inside the bushing right side,
Axle sleeve passes through first bearing stepped hole and bushing connection, hole bullet by the first axle sleeve stepped hole and bushing connection, second bearing
Property retaining ring be located in retainer ring spacing slot and bushing connection；The second axle sleeve stepped hole, are respectively equipped with inside the bushing left side
Two bearing stepped holes, outside framework oil seal pass through second bearing stepped hole by the second axle sleeve stepped hole and bushing connection, first bearing
With bushing connection；
The outer wall of the motor fixing seat is equipped with pump nozzle, and pump nozzle is connect with motor fixing seat；It is bushed in the second spiral shell
It is connect under the action of nail, the second spring washer with motor fixing seat.
Further, the transmission shaft component includes axis, and axis is equipped with groove, and flat key passes through groove and axis connection；The axis
On be arranged with A type sealing ring, for realizing the sealing of axis and installation pedestal component；Is provided on the left of the A type sealing ring
Three bearings, the 3rd bearing are installed on axis, and first bearing lid passes through axis and 3rd bearing is tightly connected.
Further, the flat key includes the first flat key being distributed on the left of first bearing lid, is distributed on the right side of A type sealing ring
The second flat key.
Further, the end face of the first bearing lid is equipped with the second sealing ring, and the inside of the first bearing lid is equipped with the
Three sealing rings, the first bearing lid and 3rd bearing are tightly connected by third spring washer, third screw.
Further, the 4th spring washer, nut are distributed on the left of first flat key, the 4th spring washer, nut and axis
Left end connection.
Further, the transmission shaft component is connected with tyre assembly, and the tyre assembly includes solid tyre, described solid
Tire is connect with connector sleeve, and the connector sleeve is emitted with shield to be connect.
Further, the solid tyre is connect by the 4th screw, the 5th spring washer and plain cushion with connector sleeve.
Further, the two sides that emit protected are provided with the 5th screw, the 6th spring washer, and the shield is emitted through the 5th screw, the
Six spring washers are connect with connector sleeve.
Further, the electric machine assembly includes motor, retarder, and the motor is connect with retarder, the retarder with
Installation pedestal component is fixedly connected.
Further, the shell of the retarder is fixedly connected by the first screw, the first spring washer with installation pedestal component.
Compared with prior art, technical solution provided by the invention includes following the utility model has the advantages that by installation pedestal group
The design of part realizes that integration is set under the premise of guaranteeing that transmission device meets national II class requirement of explosion proof and IP65 sealing grade
Meter；Pump nozzle is installed by the outer wall in motor fixing seat, can be reduced periodically to make-up oil inside axis by pump nozzle
The abrasion of axis simultaneously reduces the friction noise in axis motion process；Installation pedestal component is formed with transmission shaft component mating reaction
Three bearings form the support of axle power square, be effectively prevented axis and tremble in the case where movement and big torque deformation.
In addition, meeting IP65 sealing grade in the transmission device, under the design of dustproof and waterproof, crusing robot can be made
In ponding road surface safety, avoiding device water inlet causes internal short circuits, to influence the safe and reliable of the transmission device
And stable operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of crusing robot transmission device provided by the invention；
Fig. 2 is the cross-sectional view of Fig. 1；
Fig. 3 is the structural schematic diagram of electric machine assembly provided by the invention；
Fig. 4 is the structural schematic diagram of installation pedestal component provided by the invention；
Fig. 5 is the cross-sectional view of Fig. 4；
Fig. 6 is the structural schematic diagram of transmission shaft component provided by the invention；
Fig. 7 is the structural schematic diagram of tyre assembly provided by the invention.
Wherein: 1 is electric machine assembly；2 be installation pedestal component；3 be transmission shaft component；4 be tyre assembly；5 be motor；6
For retarder；7 be the first screw；8 be the first spring washer；9 be first bearing；10 be the second screw；11 be the second spring washer；12 be bone
Frame oil sealing；13 be bushing；14 be second bearing；15 be circlip for hole；16 be axle sleeve；17 be motor fixing seat；18 be note
Oil nozzle；19 be the first sealing ring；20 be flat key；21 be axis；22 be A type sealing ring；23 be the second sealing ring；24 be third axis
It holds；25 be third spring washer；26 be third screw；27 be first bearing lid；28 be third sealing ring；29 be the 4th spring washer；30 are
Nut；31 be solid tyre；32 be plain cushion；33 be the 4th screw；34 be the 5th spring washer；35 be the 5th screw；36 be the 6th bullet
Pad；37 be connector sleeve；38 emit for shield.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawings and embodiments:
Embodiment:
Referring to shown in Fig. 1-2, the present invention provides a kind of crusing robot transmission devices, comprising: electric machine assembly 1, installation
Base assembly 2 and transmission shaft component 3, electric machine assembly 1 are fixedly connected with installation pedestal component 2, electric machine assembly 1, installation pedestal group
Part 2 is connect with transmission shaft component 3 respectively；
Installation pedestal component 2 includes: motor fixing seat 17 and bushing 13, and bushing 13 are equipped with seal groove, seal groove and first
The cooperation of sealing ring 19 makes bushing 13 to be tightly connected with motor fixing seat 17；
The first axle sleeve stepped hole, first bearing stepped hole and retainer ring spacing slot, axis are respectively equipped with inside bushing 13 right side
Set 16 is connect by the first axle sleeve stepped hole with bushing 13, and second bearing 14 is connect by first bearing stepped hole with bushing 13,
Circlip for hole 15 is located in retainer ring spacing slot to be connect with bushing 13；The second axle sleeve platform is respectively equipped with inside bushing 13 left side
Rank hole, second bearing stepped hole, outside framework oil seal 12 are connect by the second axle sleeve stepped hole with bushing 13, and first bearing 9 passes through the
Two bearing stepped holes are connect with bushing 13；
The outer wall of motor fixing seat 17 is equipped with pump nozzle 18, and pump nozzle 18 is connect with motor fixing seat 17；Bushing 13
It is connect under the action of second screw 10, the second spring washer 11 with motor fixing seat 17.
Preferably, the first sealing ring 19 is O-ring seal, matches with bushing 13 seal groove, makes bushing 13 and motor
Fixing seat 17 is tightly connected.
Further, transmission shaft component 3 includes axis 21, and axis 21 is equipped with groove, and flat key 20 is connect by groove with axis 21；
A type sealing ring 22 is arranged on axis 21, for realizing the sealing of axis 21 and installation pedestal component 2；The left side of A type sealing ring 22 is set
It is equipped with 3rd bearing 24,3rd bearing 24 is installed on axis 21, and first bearing lid 27 passes through axis 21 and the sealing of 3rd bearing 24 connects
It connects.
Further, flat key 20 includes the first flat key for being distributed in 27 left side of first bearing lid, is distributed in A type sealing ring 22
Second flat key on right side, flat key 20 for being detachably connected between the driving member on axis 21 and axis 21, for transmit torque and
Movement.
Preferably, flat key 20 selects general flat key, and structure is simple, convenient for disassembly and assembly, to neutral good.
Further, the end face of first bearing lid 27 is equipped with the second sealing ring 23, and the inside of first bearing lid 27 is equipped with the
Three sealing rings 28, first bearing lid 27 and 3rd bearing 24 are tightly connected by third spring washer 25, third screw 26, the structure
Design can be realized the sealed connection of first bearing lid 27 Yu 3rd bearing 24.
Further, the 4th spring washer 29, nut 30, the 4th spring washer 29, nut 30 and axis are distributed on the left of the first flat key
21 left end connection.Preferably, nut 30 selects thin nut, and the double-deck thin nut is used together with the cooperation of the 4th spring washer 29, can
Realize good anti-loosing effect.
Further, transmission shaft component 3 is connected with tyre assembly 4, and tyre assembly 4 includes solid tyre 31, solid tyre
31 connect with connector sleeve 37, and connector sleeve 37 and shield emit 38 connections.
Further, solid tyre 31 is connect by the 4th screw 33, the 5th spring washer 34 and plain cushion 32 with connector sleeve 37.
Further, the two sides that shield emits 38 are provided with the 5th screw 35, the 6th spring washer 36, and shield emits 38 by the 5th screw
35, the 6th spring washer 36 is connect with connector sleeve 37.
Further, electric machine assembly 1 includes motor 5, retarder 6, and motor 5 is connect with retarder 6, retarder 6 and installation
Base assembly 2 is fixedly connected, and the shell of retarder 6 passes through the first screw 7, the first spring washer 8 and the fixed company of installation pedestal component 2
It connects.
To sum up, crusing robot transmission device provided by the invention, mainly reception robot control instruction, are driven by motor
The basic functions such as dynamic device receives instruction and direct-driving motor realization robot advances, retreats, turning, parking, and accurately reach
Task point, data acquisition and hazard detection assessment.The transmission device, first bearing 9, second bearing 14,3rd bearing
The axle power square support that 24 these three bearings are formed, can be effectively prevented axis 21 and tremble in the case where movement and big torque change
Shape；The design of installation pedestal component 2, in the premise for guaranteeing that transmission device meets national II class requirement of explosion proof and IP65 seals grade
Lower realization integrated design, while allowing the robot to avoid causing internal short circuits into water in ponding road surface safety,
Safe and reliable, stable operation；The outer wall of motor fixing seat 17 installs pump nozzle 18, can be periodically in axis by pump nozzle 18
Portion's make-up oil reduces the abrasion of axis and reduces the friction noise in axis motion process.
The above is only a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.
It should be understood that the invention is not limited to the contents of foregoing description, and can without departing from the scope into
Row modifications and changes.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of crusing robot transmission device characterized by comprising electric machine assembly (1), installation pedestal component (2) and biography
Moving axis component (3), the electric machine assembly (1) are fixedly connected with installation pedestal component (2), the electric machine assembly (1), installation pedestal
Component (2) is connect with transmission shaft component (3) respectively；
The installation pedestal component (2) includes: motor fixing seat (17) and bushing (13), and described bushing (13) are equipped with seal groove,
Seal groove and the first sealing ring (19) cooperation are tightly connected bushing (13) and motor fixing seat (17)；
The first axle sleeve stepped hole, first bearing stepped hole and retainer ring spacing slot are respectively equipped with inside the right side of bushing (13),
Axle sleeve (16) is connect by the first axle sleeve stepped hole with bushing (13), second bearing (14) pass through first bearing stepped hole with it is bushing
(13) it connects, circlip for hole (15) is located in retainer ring spacing slot to be connect with bushing (13)；In the left side of bushing (13)
Portion is respectively equipped with the second axle sleeve stepped hole, second bearing stepped hole, outside framework oil seal (12) by the second axle sleeve stepped hole with it is bushing
(13) it connects, first bearing (9) is connect by second bearing stepped hole with bushing (13)；
The outer wall of the motor fixing seat (17) is equipped with pump nozzle (18), and pump nozzle (18) is connect with motor fixing seat (17)；
Bushing (13) are connect under the action of the second screw (10), the second spring washer (11) with motor fixing seat (17).
2. crusing robot transmission device according to claim 1, which is characterized in that the transmission shaft component (3) includes
Axis (21), axis (21) are equipped with groove, and flat key (20) is connect by groove with axis (21)；It is close that A type is arranged on the axis (21)
Seal (22), for realizing the sealing of axis (21) and installation pedestal component (2)；It is provided on the left of the A type sealing ring (22)
3rd bearing (24), the 3rd bearing (24) are installed on axis (21), and first bearing lid (27) passes through axis (21) and third axis
Hold (24) sealed connection.
3. crusing robot transmission device according to claim 2, which is characterized in that the flat key (20) includes being distributed in
The first flat key on the left of first bearing lid (27), the second flat key being distributed on the right side of A type sealing ring (22).
4. crusing robot transmission device according to claim 2, which is characterized in that the end of the first bearing lid (27)
Face is equipped with the second sealing ring (23), and the inside of the first bearing lid (27) is equipped with third sealing ring (28), the first bearing
(27) and 3rd bearing (24) are covered to be tightly connected by third spring washer (25), third screw (26).
5. crusing robot transmission device according to claim 3, which is characterized in that the left side of first flat key is distributed
There are the 4th spring washer (29), nut (30), the 4th spring washer (29), nut (30) are connect with the left end of axis (21).
6. crusing robot transmission device according to claim 1, which is characterized in that transmission shaft component (3) connection
Have tyre assembly (4), the tyre assembly (4) includes that solid tyre (31), the solid tyre (31) and connector sleeve (37) connect
It connects, the connector sleeve (37) emits (38) with shield and connect.
7. crusing robot transmission device according to claim 6, which is characterized in that the solid tyre (31) passes through the
Four screws (33), the 5th spring washer (34) and plain cushion (32) are connect with connector sleeve (37).
8. crusing robot transmission device according to claim 6, which is characterized in that the shield emits the two sides setting of (38)
There are the 5th screw (35), the 6th spring washer (36), the shield emits (38) and passes through the 5th screw (35), the 6th spring washer (36) and connector sleeve
(37) it connects.
9. crusing robot transmission device according to claim 1-8, which is characterized in that the electric machine assembly
It (1) include motor (5), retarder (6), the motor (5) connect with retarder (6), the retarder (6) and installation pedestal group
Part (2) is fixedly connected.
10. crusing robot transmission device according to claim 9, which is characterized in that the shell of the retarder (6) is logical
Cross the first screw (7), the first spring washer (8) is fixedly connected with installation pedestal component (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821729.8A CN110421554A (en) | 2019-09-02 | 2019-09-02 | A kind of crusing robot transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821729.8A CN110421554A (en) | 2019-09-02 | 2019-09-02 | A kind of crusing robot transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110421554A true CN110421554A (en) | 2019-11-08 |
Family
ID=68418467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910821729.8A Pending CN110421554A (en) | 2019-09-02 | 2019-09-02 | A kind of crusing robot transmission device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110421554A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| JP2017154241A (en) * | 2016-03-04 | 2017-09-07 | 住友重機械工業株式会社 | Joint driving structure of robot |
| EP3281753A1 (en) * | 2016-08-12 | 2018-02-14 | Schneider Electric Industries SAS | Robot |
| CN207906665U (en) * | 2018-01-04 | 2018-09-25 | 福建省闽旋科技股份有限公司 | A kind of rotary joint with double flat face seals |
| CN109129401A (en) * | 2018-11-02 | 2019-01-04 | 西安安森智能仪器股份有限公司 | A kind of explosion-proof type body construction |
| CN208880693U (en) * | 2018-08-20 | 2019-05-21 | 南昌大学 | A kind of driving wheel apparatus for heavy load climbing robot |
| CN210307813U (en) * | 2019-09-02 | 2020-04-14 | 西安安森智能仪器股份有限公司 | Transmission device of inspection robot |
-
2019
- 2019-09-02 CN CN201910821729.8A patent/CN110421554A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| JP2017154241A (en) * | 2016-03-04 | 2017-09-07 | 住友重機械工業株式会社 | Joint driving structure of robot |
| EP3281753A1 (en) * | 2016-08-12 | 2018-02-14 | Schneider Electric Industries SAS | Robot |
| CN207906665U (en) * | 2018-01-04 | 2018-09-25 | 福建省闽旋科技股份有限公司 | A kind of rotary joint with double flat face seals |
| CN208880693U (en) * | 2018-08-20 | 2019-05-21 | 南昌大学 | A kind of driving wheel apparatus for heavy load climbing robot |
| CN109129401A (en) * | 2018-11-02 | 2019-01-04 | 西安安森智能仪器股份有限公司 | A kind of explosion-proof type body construction |
| CN210307813U (en) * | 2019-09-02 | 2020-04-14 | 西安安森智能仪器股份有限公司 | Transmission device of inspection robot |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191108 Address after: 710018 No. 1155 Caotan 10 Road, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province, No. 2 Building of Intelligent Nest Industrial Park Applicant after: Xi'an Sen intelligent instrument Limited by Share Ltd Address before: 710018 floor 5, building 10, Zhichao Industrial Park, 1155 caotan 10th Road, Xi'an Economic and Technological Development Zone, Weiyang District, Xi'an City, Shaanxi Province Applicant before: Xi'an Ansen Intelligent Robot Co., Ltd. |
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