CN111975760A - One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade - Google Patents
One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade Download PDFInfo
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- CN111975760A CN111975760A CN202010761822.7A CN202010761822A CN111975760A CN 111975760 A CN111975760 A CN 111975760A CN 202010761822 A CN202010761822 A CN 202010761822A CN 111975760 A CN111975760 A CN 111975760A
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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
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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Abstract
The invention relates to a shaft rotating mechanism which is suitable for a multi-shaft robot and has IP65 protection grade, comprising a base, an electric mounting plate, an RV reducer, a rotating arm, a servo motor, a cable assembly and a sealing threading assembly. The sealing threading assembly comprises a corrugated pipe, a corrugated pipe straight joint with IP65 protection grade, a joint flange, a rotating arm end thread passing cylinder flange, a thread passing cylinder, a framework oil seal and a bearing. The corrugated pipe, the straight joint of the corrugated pipe, the joint flange and the wire passing barrel at the rotating arm end are sequentially connected from top to bottom, the middle part of the wire passing barrel at the rotating arm end is fixedly arranged on the rotating arm through the wire passing barrel flange at the rotating arm end, the wire passing barrel is sleeved outside the wire passing barrel at the rotating arm end, the lower end of the wire passing barrel is communicated with the inside of the base, the bearing is arranged between a gear at the input end of the RV reducer and the rotating arm, and the framework oil seal is arranged between the wire passing barrel and the rotating. The electric installation board is provided with a heavy-duty connector with IP65 protection grade, and the cable assembly is connected with the heavy-duty connector.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a shaft rotating mechanism which is suitable for a multi-shaft robot and has an IP65 protection grade.
Background
With the rapid development of the industrialized era, industrial robot technology is continuously explored and developed. Many enterprises use industrial robots to replace human labor to perform various production tasks in dangerous and harmful harsh environments (such as toxic gases, dust environments, humid environments, etc.), but also bring another problem: industrial robots that are not designed for protection run the risk of dust ingress or moisture ingress into the interior of the robot base, which can cause electrical failures at the cable-heavy-duty connector interface.
At present, the cost of most high protection level industrial robots suitable for adverse working environment is higher, and consequently, an industrial robot joint rotary mechanism that needs to be designed urgently, through low-cost structural design, satisfies IP65 protection level requirement, plays the guard action to industrial robot electrical system under the adverse production environment.
Disclosure of Invention
The invention aims to solve the problems that the industrial robot in the prior art has electrical faults due to the fact that dust or water vapor enters the base and the industrial robot with high protection level has high cost, and provides an axial rotating mechanism which is suitable for a multi-axis robot and has IP65 protection level, and the technical scheme is as follows:
the utility model provides an one slewing mechanism suitable for multiaxis robot just has IP65 protection level, includes the base, installs electric mounting panel on the base, output and base fixed connection's RV reduction gear, with RV reduction gear outer flange fixed connection's rocking arm, install servo motor and cable subassembly on the rocking arm through motor mounting flange, servo motor's output shaft gear and RV reduction gear's input gear engagement, its special character lies in:
the sealing threading assembly sequentially penetrates through the rotating arm and the RV reducer from top to bottom and is communicated with the interior of the base;
the sealing threading assembly comprises a corrugated pipe, a corrugated pipe straight joint with IP65 protection grade, a joint flange, a rotating arm end thread passing cylinder flange, a thread passing cylinder, a framework oil seal and a bearing;
the corrugated pipe, the straight joint of the corrugated pipe, the joint flange and the rotating arm end are sequentially connected from top to bottom through a wire barrel; the wire passing cylinder at the end of the rotary arm is fixedly arranged on the rotary arm through a wire passing cylinder flange at the end of the rotary arm; the wire passing cylinder is sleeved outside the wire passing cylinder at the rotating arm end, and the lower end of the wire passing cylinder is fixedly arranged on the base and communicated with the inside of the base; the bearing is arranged between the input end gear and the rotating arm of the RV reducer; the framework oil seal is arranged between the wire passing cylinder and the rotating arm and is positioned on the upper end surface of the bearing;
the electric installation plate is provided with a heavy-duty connector with an IP65 protection grade;
the cable assembly comprises a first shaft coded cable, a first shaft power cable, a second shaft coded cable, a second shaft power cable and other shaft cable harnesses, wherein one end of the first shaft coded cable, one end of the first shaft power cable, one end of the second shaft coded cable and the other end of the second shaft coded cable are respectively connected with the heavy-; the other ends of the first-axis coding cable, the first-axis power cable, the second-axis coding cable and the second-axis power cable are respectively led out from the joint of the joint flange and the wire passing cylinder at the rotating arm end; the other end of the other axial cable harness is led out from the corrugated pipe.
Furthermore, a rubber sealing gasket is arranged between the wire barrel flange at the end of the rotating arm and the rotating arm.
Furthermore, an elastic retainer ring is arranged between the framework oil seal and the bearing;
an elastic retainer ring mounting groove is formed in the inner side of the rotating arm;
and the outer ring of the elastic retainer ring is arranged in the elastic retainer ring mounting groove.
Furthermore, a first threading hole, a second threading hole, a third threading hole and a fourth threading hole are formed in the joint of the joint flange and the turning arm end threading cylinder;
the inner diameter of the first threading hole is smaller than the outer diameter of a shaft coding cable, and the other end of the shaft coding cable is led out from the first threading hole;
the inner diameter of the second threading hole is smaller than the outer diameter of a shaft power cable, and the other end of the shaft power cable is led out from the second threading hole;
the inner diameter of the third threading hole is smaller than the outer diameter of the two-shaft power cable, and the other end of the two-shaft power cable is led out from the third threading hole;
the inner diameter of the fourth threading hole is smaller than the outer diameter of the two-axis coded cable, and the other end of the two-axis coded cable is led out from the fourth threading hole.
Further, a first O-shaped ring is arranged at the joint of the RV reducer and the base;
a second O-shaped ring is arranged at the joint of the rotating arm and the RV reducer;
a third O-shaped ring is arranged at the joint of the motor mounting flange and the rotating arm;
a fourth O-shaped ring is arranged at the joint of the servo motor and the motor mounting flange;
and a fifth O-shaped ring is arranged at the joint of the wire passing cylinder and the base.
Furthermore, a first outer ring sealing groove for mounting a first O-shaped ring and a second outer ring sealing groove for mounting a second O-shaped ring are formed in the RV reducer;
the rotating arm is provided with a third inner ring sealing groove for mounting a third O-shaped ring;
a fourth outer ring sealing groove for mounting a fourth O-shaped ring is formed in the motor mounting flange;
and a fifth inner ring sealing groove for mounting a fifth O-shaped ring is formed in the base.
Further, the straight joint of the corrugated pipe is connected with a joint flange through threads;
and a waterproof adhesive tape is wound at the threaded connection part.
Furthermore, end face sealant is coated at the joint of the joint flange and the rotating arm end wire passing barrel.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the one-shaft rotating mechanism which is suitable for the multi-shaft robot and has the IP65 protection grade, the one-shaft rotating mechanism meets the requirement of the IP65 protection grade by adopting the low-cost structural design of the sealing threading assembly and the heavy-load connector with the IP65 protection grade, so that the industrial robot can work in a severe environment, and the problem of electrical fault caused by the fact that dust or moisture enters the inside of the base is effectively solved;
(2) a rubber sealing gasket is arranged between the wire barrel flange at the end of the rotating arm and the rotating arm, so that the sealing between the wire barrel flange and the rotating arm can be realized;
(3) an elastic retainer ring is arranged between the framework oil seal and the bearing, so that the bearing can be axially fixed, and the axial movement of the bearing is prevented;
(4) the joint of the joint flange and the wire passing cylinder at the end of the rotating arm is provided with four wire passing holes, the inner diameters of the four wire passing holes are respectively smaller than the outer diameters of the correspondingly led cables, so that dust and moisture can be prevented from entering the inner part of the cavity of the base from the cable passing position, and the dustproof and waterproof sealing in the cavity of the base is realized;
(5) the O-shaped ring is arranged at the joint of each component, so that the sealing effect of the one-shaft rotating mechanism can be further improved, and the production cost is low;
(6) the waterproof adhesive tape is wound at the threaded connection position of the straight joint of the corrugated pipe and the joint flange, so that dust and moisture can be prevented from entering the cavity of the base from a connection gap;
(7) end face sealant is smeared at the joint of the joint flange and the rotating arm end wire passing cylinder, so that dust and moisture can be prevented from entering the cavity of the base through the matching surface of the joint flange and the rotating arm end wire passing cylinder.
Drawings
FIG. 1 is a cross-sectional view of one embodiment of a shaft turning mechanism of the present invention adapted for use with a multi-axis robot and having IP65 protection rating;
FIG. 2 is a cross-sectional view A-A of FIG. 1 (bellows not shown);
FIG. 3 is an enlarged view of a portion of FIG. 2 at I;
FIG. 4 is an enlarged view of a portion of FIG. 2 at II;
FIG. 5 is an enlarged view of a portion of FIG. 2 at III;
FIG. 6 is an enlarged view of a portion of FIG. 2 at IV;
FIG. 7 is an enlarged view of a portion of FIG. 2 at V;
FIG. 8 is a schematic structural diagram of a wire passing cylinder at the end of the rotating arm in the embodiment of the invention;
fig. 9 is a schematic structural view of a joint flange in an embodiment of the present invention.
In the figure, 1-a base, 101-a fifth inner ring sealing groove, 2-a thread passing cylinder, 3-a fifth O-shaped ring, 4-a first O-shaped ring, 5-an RV reducer, 501-a first outer ring sealing groove, 502-a second outer ring sealing groove, 503-an input end gear, 6-a rotating arm, 601-a third inner ring sealing groove, 602-a elastic retainer ring installation groove, 7-a third O-shaped ring, 8-a motor installation flange, 801-a fourth outer ring sealing groove, 9-a fourth O-shaped ring, 10-an output shaft gear, 11-a servo motor, 12-a corrugated pipe direct joint, 13-a joint flange, 131-a fourth thread passing hole, 132-a third thread passing hole, 133-a second thread passing hole, 134-a first thread passing hole and 135-a first semicircular notch, 14-tumbler end cable passing cylinder, 141-second semicircular notch, 15-tumbler end cable passing cylinder flange, 16-rubber sealing gasket, 17-framework oil seal, 18-elastic retainer ring, 19-second O-shaped ring, 20-bearing, 21-cover plate, 22-bottom plate, 23-first shaft coding cable, 24-first shaft power cable, 25-second shaft power cable, 26-second shaft coding cable, 27-other shaft cable harness, 28-electric mounting plate and 29-heavy-load connector.
Detailed Description
To make the objects, advantages and features of the present invention more apparent, a shaft rotating mechanism suitable for a multi-shaft robot and having IP65 protection level according to the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, the one-axis rotation mechanism includes a base 1, a cover plate 21, a bottom plate 22 and an electrical installation plate 28 which are installed on the base 1, an RV reducer 5 whose output end is fixedly connected with the base 1, a rotating arm 6 which is fixedly connected with an outer flange of the RV reducer 5, a servo motor 11 which is installed on the rotating arm 6 through a motor installation flange 8, a cable assembly and a sealing threading assembly. An output shaft gear 10 of the servo motor 11 is meshed with an input end gear 503 of the RV reducer 5, and the servo motor 11 drives the RV reducer 5 to drive the rotating arm 6 to rotate, so that the effect of one-shaft rotation is achieved.
The sealing threading assembly sequentially penetrates through the rotating arm 6 and the RV reducer 5 from top to bottom and is communicated with the interior of the base 1, and specifically comprises a corrugated pipe, a corrugated pipe straight joint 12 with IP65 protection grade, a joint flange 13, a rotating arm end threading cylinder 14, a rotating arm end threading cylinder flange 15, a threading cylinder 2, a framework oil seal 17 and a bearing 20.
The corrugated pipe, the straight joint 12 of the corrugated pipe, the joint flange 13 and the rotating arm end wire passing cylinder 14 are sequentially connected from top to bottom, the upper part of the rotating arm end wire passing cylinder 14 is fixedly arranged on the rotating arm 6 through the rotating arm end wire passing cylinder flange 15, and a rubber sealing gasket 16 for sealing is arranged between the rotating arm end wire passing cylinder flange 15 and the rotating arm 6. The wire passing cylinder 2 is sleeved outside the wire passing cylinder 14 at the rotating arm end, and the lower end of the wire passing cylinder is fixedly arranged on the base 1 and communicated with the inside of the base 1. The bearing 20 is disposed between the input gear 503 of the RV reducer 5 and the boom 6, and functions to support and transition the speed difference between the input gear 503 of the RV reducer 5 and the boom 6. The framework oil seal 17 is arranged between the wire passing cylinder 2 and the rotating arm 6 and is positioned on the upper end surface of the bearing 20, and under the condition that the rotating arm 6 and the wire passing cylinder 2 generate relative rotation motion, the framework oil seal 17 can prevent dust or water gas from entering the RV reducer 5, so that dynamic dustproof and waterproof sealing protection is realized. In order to prevent the bearing 20 from moving axially, a circlip 18 is provided between the frame oil seal 17 and the bearing 20, as shown in fig. 5, a circlip installation groove 602 is provided on the inner side of the pivot arm 6, and the outer ring of the circlip 18 is installed in the circlip installation groove 602.
The electric installation board 28 is provided with a heavy-duty connector 29 with IP65 protection grade, and the cable assembly comprises a first shaft code cable 23, a first shaft power cable 24, a second shaft code cable 26, a second shaft power cable 25 and other shaft cable harnesses 27, wherein one end of each shaft code cable is connected with the heavy-duty connector 29. The other ends of the first-axis coded cable 23, the first-axis power cable 24, the second-axis coded cable 26 and the second-axis power cable 25 are respectively led out from the joint of the joint flange 13 and the tumbler-end wire passing cylinder 14, and the other ends of the other axis cable harnesses 27 are led out from the corrugated pipe.
The other ends of the first-axis coded cable 23, the first-axis power cable 24, the second-axis coded cable 26 and the second-axis power cable 25 are respectively led out from the joint of the joint flange 13 and the tumbler-end threading cylinder 14, the specific structure is shown in fig. 3, 8 and 9, the lower end of the joint flange 13 is provided with four first semicircular notches 135, the upper end of the tumbler-end threading cylinder 14 is also correspondingly provided with four second semicircular notches 141, and after the lower end of the joint flange 13 is connected with the upper end of the tumbler-end threading cylinder 14, the four semicircular notches of the joint flange are respectively in one-to-one correspondence to form a first threading hole 134, a second threading hole 133, a third threading hole 132 and a fourth threading hole 131. The inner diameter of the first threading hole 134 is slightly smaller than the outer diameter of the shaft coding cable 23, and the other end of the shaft coding cable 23 is led out from the first threading hole 134; the inner diameter of the second threading hole 133 is slightly smaller than the outer diameter of the shaft power cable 24, and the other end of the shaft power cable 24 is led out from the second threading hole 133; the inner diameter of the third threading hole 132 is slightly smaller than the outer diameter of the two-shaft power cable 25, and the other end of the two-shaft power cable 25 is led out from the third threading hole 132; the inner diameter of the fourth threading hole 131 is slightly smaller than the outer diameter of the two-axis coded cable 26, and the other end of the two-axis coded cable 26 is led out from the fourth threading hole 131. The inner diameters of the four threading holes are slightly smaller than the outer diameters of the corresponding leading-out cables respectively, so that the dustproof and waterproof sealing inside the cavity of the base 1 can be realized.
For further promoting a slewing mechanism's sealed effect, set up O type circle in each part junction, concrete structure is as follows:
as shown in fig. 6, the joint of the RV reducer 5 and the base 1 is provided with a first O-ring 4, which can prevent dust or moisture from entering the RV reducer 5 from the matching surface of the output end of the RV reducer 5 and the base 1, and thus, the dustproof and waterproof sealing of the RV reducer 5 is realized. Be equipped with the first outer lane seal groove 501 that is used for installing first O type circle 4 on the RV reduction gear 5, the degree of depth of first outer lane seal groove 501 is less than the diameter of cut of first O type circle 4 for first O type circle 4 and RV reduction gear 5 and base 1 in close contact with reach sealed effect.
As shown in fig. 7, a second O-ring 19 is disposed at the joint of the rotating arm 6 and the RV reducer 5, so as to prevent dust or moisture from entering the RV reducer 5 from the mating surface of the rotating arm 6 and the upper end of the RV reducer 5, thereby achieving the dustproof and waterproof sealing of the RV reducer 5. The RV reducer 5 is provided with a second outer ring sealing groove 502 for mounting a second O-shaped ring 19, and the depth of the second outer ring sealing groove 502 is smaller than the diameter of the second O-shaped ring 19, so that the second O-shaped ring 19 is in close contact with the rotating arm 6 and the RV reducer 5, and the sealing effect is achieved.
As shown in fig. 4, a third O-ring 7 is disposed at the joint of the motor mounting flange 8 and the rotating arm 6, so that dust or moisture can be prevented from entering a transmission cavity where the output shaft gear 10 is engaged with the input end gear of the RV reducer 5 from the matching surface of the motor mounting flange 8 and the rotating arm 6, and the dustproof and waterproof sealing of the transmission cavity can be realized. The rotating arm 6 is provided with a third inner ring sealing groove 601 for mounting a third O-shaped ring 7, and the depth of the third inner ring sealing groove 601 is smaller than the diameter of the third O-shaped ring 7, so that the third O-shaped ring 7 is in close contact with the motor mounting flange 8 and the rotating arm 6, and a sealing effect is achieved.
As shown in fig. 4, a fourth O-ring 9 is arranged at the joint of the servo motor 11 and the motor mounting flange 8, so that dust or moisture can be prevented from entering a transmission cavity in which the output shaft gear 10 is engaged with the input end gear of the RV reducer 5 from the matching surface of the servo motor 11 and the motor mounting flange 8, and the dustproof and waterproof sealing of the transmission cavity is realized. The motor mounting flange 8 is provided with a fourth outer ring sealing groove 801 for mounting a fourth O-shaped ring 9, and the depth of the fourth outer ring sealing groove 801 is smaller than the diameter of the fourth O-shaped ring 9, so that the fourth O-shaped ring 9 is in close contact with the servo motor 11 and the motor mounting flange 8, and a sealing effect is achieved.
As shown in fig. 6, a fifth O-ring 3 is disposed at the joint of the bobbin 2 and the base 1, so as to prevent dust or moisture from entering the cavity of the base 1 from the fitting surface of the bobbin 2 and the base 1, and achieve the dustproof and waterproof sealing of the cavity of the base 1. The base 1 is provided with a fifth inner ring sealing groove 101 for mounting a fifth O-shaped ring 3, and the depth of the fifth inner ring sealing groove 101 is smaller than the diameter of the fifth O-shaped ring 3, so that the fifth O-shaped ring 3 is in close contact with the thread passing cylinder 2 and the base 1, and a sealing effect is achieved.
In addition, the straight joint 12 of the corrugated pipe is connected with the joint flange 13 through threads, and a waterproof adhesive tape is wound at the threaded connection part, so that dust or moisture can be prevented from entering the cavity of the base 1 through a threaded connection gap.
End face sealant is coated at the joint of the joint flange 13 and the rotating arm end wire passing cylinder 14, so that dust or moisture can be prevented from permeating into the cavity of the base 1 through the matching surface of the joint flange 13 and the rotating arm end wire passing cylinder 14.
This a slewing mechanism is at the during operation, 5 output of RV reduction gear and 1 junction of base form static seal through first O type circle 4, rocking arm 6 forms static seal through second O type circle 19 with 5 outer flange junctions of RV reduction gear, motor mounting flange 8 forms static seal through third O type circle 7 with 6 junctions of rocking arm, servo motor 11 forms static seal through fourth O type circle 9 with motor mounting flange 8 junction, it forms static seal through fifth O type circle 3 to cross bobbin 2 and 1 junction of base, it forms dynamic seal through skeleton oil blanket 17 to cross between bobbin 2 and the rocking arm 6, the mechanical transmission of a transmission mechanism is sealed to above sealed realization.
A first-axis coded cable 23, a first-axis power cable 24, a second-axis power cable 25 and a second-axis coded cable 26 are respectively led out from a first threading hole 134, a second threading hole 133, a third threading hole 132 and a fourth threading hole 131 which are formed by butt joint of the joint flange 13 and the tumbler end threading cylinder 14 to form static seal; other axial cable harnesses 27 pass through the corrugated pipe and enter the sealing threading assembly to form a static seal; a waterproof adhesive tape is wound at the threaded connection part of the straight joint 12 and the joint flange 13 of the corrugated pipe to form static seal; and end face sealant is coated at the joint of the joint flange 13 and the rotating arm end wire passing cylinder 14 to form static seal. The threading sealing of the base 1 is realized through the above sealing.
Through the sealing of each structure, keep apart a drive mechanism inside and external environment to a certain extent, prevent that external environment's dust or vapor from getting into a drive mechanism inside, play the guard action to the mechanism is inside.
The foregoing has outlined the principles, major structural features, and structural advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an one pivot mechanism suitable for multiaxis robot just has IP65 protection level, includes base (1), installs electric mounting panel (28) on base (1), output and base (1) fixed connection's RV reduction gear (5), with RV reduction gear (5) outer flange fixed connection's rocking arm (6), install servo motor (11) and cable subassembly on rocking arm (6) through motor mounting flange (8), output shaft gear (10) of servo motor (11) and input gear (503) meshing of RV reduction gear (5), its characterized in that:
the sealing threading assembly sequentially penetrates through the rotating arm (6) and the RV reducer (5) from top to bottom and is communicated with the inside of the base (1);
the sealing threading assembly comprises a corrugated pipe, a corrugated pipe straight joint (12) with IP65 protection grade, a joint flange (13), a rotating arm end thread passing cylinder (14), a rotating arm end thread passing cylinder flange (15), a thread passing cylinder (2), a framework oil seal (17) and a bearing (20);
the corrugated pipe, the straight joint (12) of the corrugated pipe, the joint flange (13) and the wire passing cylinder (14) at the rotating arm end are sequentially connected from top to bottom; the wire passing cylinder (14) at the rotating arm end is fixedly arranged on the rotating arm (6) through a wire passing cylinder flange (15) at the rotating arm end; the wire passing cylinder (2) is sleeved outside the wire passing cylinder (14) at the rotating arm end, and the lower end of the wire passing cylinder is fixedly arranged on the base (1) and communicated with the inside of the base (1); the bearing (20) is arranged between the input end gear (503) of the RV reducer (5) and the rotating arm (6); the framework oil seal (17) is arranged between the wire passing cylinder (2) and the rotating arm (6) and is positioned on the upper end surface of the bearing (20);
a heavy-duty connector (29) with an IP65 protection grade is mounted on the electric mounting plate (28);
the cable assembly comprises a first-axis coded cable (23), a first-axis power cable (24), a second-axis coded cable (26), a second-axis power cable (25) and other shaft cable harnesses (27), wherein one end of the first-axis coded cable is connected with the heavy-duty connector (29) respectively; the other ends of the first-axis coding cable (23), the first-axis power cable (24), the second-axis coding cable (26) and the second-axis power cable (25) are respectively led out from the joint of the joint flange (13) and the wire passing cylinder (14) at the rotating arm end; the other end of the other axial cable harness (27) is led out from the corrugated tube.
2. The multi-axis robot adapted for use with a single axis rotation mechanism having IP65 protection rating of claim 1, wherein:
and a rubber sealing gasket (16) is arranged between the wire barrel flange (15) at the end of the rotating arm and the rotating arm (6).
3. The multi-axis robot adapted for use with a single axis rotation mechanism having IP65 protection rating of claim 2, wherein:
an elastic retainer ring (18) is arranged between the framework oil seal (17) and the bearing (20);
an elastic retainer ring installation groove (602) is formed in the inner side of the rotating arm (6);
the outer ring of the elastic retainer ring (18) is arranged in the elastic retainer ring installation groove (602).
4. A shaft turning mechanism adapted for use in a multi-axis robot and having IP65 protection rating in accordance with any one of claims 1, 2 or 3 wherein:
a first threading hole (134), a second threading hole (133), a third threading hole (132) and a fourth threading hole (131) are formed at the joint of the joint flange (13) and the rotating arm end threading cylinder (14);
the inner diameter of the first threading hole (134) is smaller than the outer diameter of the first shaft coding cable (23), and the other end of the first shaft coding cable (23) is led out from the first threading hole (134);
the inner diameter of the second threading hole (133) is smaller than the outer diameter of the shaft power cable (24), and the other end of the shaft power cable (24) is led out from the second threading hole (133);
the inner diameter of the third threading hole (132) is smaller than the outer diameter of the two-axis power cable (25), and the other end of the two-axis power cable (25) is led out from the third threading hole (132);
the inner diameter of the fourth threading hole (131) is smaller than the outer diameter of the two-axis coded cable (26), and the other end of the two-axis coded cable (26) is led out from the fourth threading hole (131).
5. The multi-axis robot adapted for use with a single axis rotation mechanism having IP65 protection rating of claim 4, wherein:
a first O-shaped ring (4) is arranged at the joint of the RV reducer (5) and the base (1);
a second O-shaped ring (19) is arranged at the joint of the rotating arm (6) and the RV reducer (5);
a third O-shaped ring (7) is arranged at the joint of the motor mounting flange (8) and the rotating arm (6);
a fourth O-shaped ring (9) is arranged at the joint of the servo motor (11) and the motor mounting flange (8);
and a fifth O-shaped ring (3) is arranged at the joint of the wire passing cylinder (2) and the base (1).
6. The multi-axis robot adapted for use with a single axis rotation mechanism having an IP65 protection rating of claim 5, wherein:
a first outer ring sealing groove (501) for mounting a first O-shaped ring (4) and a second outer ring sealing groove (502) for mounting a second O-shaped ring (19) are formed in the RV reducer (5);
a third inner ring sealing groove (601) for mounting a third O-shaped ring (7) is formed in the rotating arm (6);
a fourth outer ring sealing groove (801) for mounting a fourth O-shaped ring (9) is formed in the motor mounting flange (8);
and a fifth inner ring sealing groove (101) for mounting a fifth O-shaped ring (3) is arranged on the base (1).
7. The multi-axis robot adapted for use with a single axis rotation mechanism having IP65 protection rating of claim 4, wherein:
the straight joint (12) of the corrugated pipe is connected with a joint flange (13) through threads;
and a waterproof adhesive tape is wound at the threaded connection part.
8. The multi-axis robot adapted for use with a single axis rotation mechanism having IP65 protection rating of claim 4, wherein:
and end face sealant is coated at the joint of the joint flange (13) and the rotating arm end wire passing barrel (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010761822.7A CN111975760A (en) | 2020-07-31 | 2020-07-31 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010761822.7A CN111975760A (en) | 2020-07-31 | 2020-07-31 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
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| Publication Number | Publication Date |
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| CN111975760A true CN111975760A (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010761822.7A Pending CN111975760A (en) | 2020-07-31 | 2020-07-31 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
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| CN (1) | CN111975760A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114290378A (en) * | 2022-01-21 | 2022-04-08 | 重庆智能机器人研究院 | Industrial robot with pipeline anti-abrasion structure and internal pipeline arrangement method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07239066A (en) * | 1994-02-24 | 1995-09-12 | Fujipura Seiko:Kk | Inner caulking hose metal fitting provided with sealant |
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| CN205911894U (en) * | 2016-07-23 | 2017-01-25 | 浙江今跃机械科技开发有限公司 | Well casement RV speed reducer |
| CN108582163A (en) * | 2018-06-26 | 2018-09-28 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
| CN108638051A (en) * | 2018-07-06 | 2018-10-12 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
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2020
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| JPH07239066A (en) * | 1994-02-24 | 1995-09-12 | Fujipura Seiko:Kk | Inner caulking hose metal fitting provided with sealant |
| JPH0957680A (en) * | 1995-08-18 | 1997-03-04 | Tokico Ltd | Industrial robot |
| CN203945372U (en) * | 2014-04-02 | 2014-11-19 | 金华凯力特自动化科技有限公司 | The rotary seal structure in a kind of robot hollow joint |
| CN205911894U (en) * | 2016-07-23 | 2017-01-25 | 浙江今跃机械科技开发有限公司 | Well casement RV speed reducer |
| CN108582163A (en) * | 2018-06-26 | 2018-09-28 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
| CN108638051A (en) * | 2018-07-06 | 2018-10-12 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114290378A (en) * | 2022-01-21 | 2022-04-08 | 重庆智能机器人研究院 | Industrial robot with pipeline anti-abrasion structure and internal pipeline arrangement method |
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Application publication date: 20201124 |