CN113977556B - Compact type high-anti-overturning rotary mechanism - Google Patents
Compact type high-anti-overturning rotary mechanism Download PDFInfo
- Publication number
- CN113977556B CN113977556B CN202111346657.XA CN202111346657A CN113977556B CN 113977556 B CN113977556 B CN 113977556B CN 202111346657 A CN202111346657 A CN 202111346657A CN 113977556 B CN113977556 B CN 113977556B
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- CN
- China
- Prior art keywords
- compression ring
- base
- roller bearing
- shell
- crossed roller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention relates to the technical field of robots, in particular to a compact type high-anti-overturning rotary mechanism. The device comprises a joint module, a shell, a compression ring I, a compression ring II, a coupler and a base, wherein the base is connected with the shell through a crossed roller bearing, the compression ring I compresses the inner ring of the crossed roller bearing and is connected with the base, and the compression ring II compresses the outer ring of the crossed roller bearing and is connected with the shell; the joint module is arranged in the shell, and the output end of the joint module is connected with the base through the coupler. The invention has the characteristics of improving the anti-overturning performance of the robot, reducing the overall weight of the robot, increasing the load of the robot and improving the positioning accuracy of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a compact type high-anti-overturning rotary mechanism.
Background
Along with the continuous decline of population bonus, many enterprises begin to introduce multi-degree-of-freedom robots to replace a large amount of manual work so as to improve the production efficiency and quality of the factory and reduce the labor cost of the factory. The one-axis robot of multiple degrees of freedom requires smaller torque and larger anti-overturning moment. At present, a speed reducer and a base are directly connected to one shaft of a plurality of light-load multi-degree-of-freedom robots in the market, and a gear or a conveyor belt is often adopted to indirectly transmit rotary power to one shaft of a large-load multi-degree-of-freedom robot. In order to meet the requirement of high anti-overturning performance of a single shaft of the robot, a large speed reducer is required to be selected, or a transmission structure is added, so that the robot is complex in structure and heavy in size.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a compact type high-anti-overturning rotary mechanism so as to solve the problem of insufficient anti-overturning performance of the existing robot on one axis.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the compact high-overturning-resistance slewing mechanism comprises a joint module, a shell, a compression ring I, a compression ring II, a coupler and a base, wherein the base is connected with the shell through a crossed roller bearing, the compression ring I compresses the inner ring of the crossed roller bearing and is connected with the base, and the compression ring II compresses the outer ring of the crossed roller bearing and is connected with the shell; the joint module is arranged in the shell, and the output end of the joint module is connected with the base through the coupler.
The crossed roller bearing is accommodated in the compression ring II, and the outer ring of the crossed roller bearing is connected with the compression ring II through a screw.
The compression ring I is positioned at the inner side end of the crossed roller bearing and is connected with the base through a screw.
The coupler is connected with the output end of the joint module through the adapter plate.
The coupling comprises a connecting plate I, a plate spring group, bolts and two connecting plates II, wherein the center of the connecting plate I is provided with a mounting hole, the plate spring group is arranged in the mounting hole, and the two connecting plates II are respectively arranged on two sides of the connecting plate I and are connected through the bolts, so that the plate spring group is pressed.
The invention has the advantages and beneficial effects that: compared with the multi-degree-of-freedom robot in the prior market, the compact high-anti-overturning rotary mechanism has the characteristics of improving the anti-overturning performance of the robot, reducing the overall weight of the robot, increasing the load of the robot and improving the positioning accuracy of the robot. The invention has compact structure and strong practicability.
Drawings
FIG. 1 is a schematic diagram of a compact high anti-overturning slewing mechanism;
FIG. 2 is a schematic view of a coupling according to the present invention;
in the figure: 1 is a joint module, 2 is a shell, 3 is a compression ring I,4 is a crossed roller bearing, 5 is a compression ring II, 6 is an adapter plate, 7 is a coupling, 701 is a connecting plate I, 702 is a plate spring group, 703 is a lantern ring, 704 is a bolt, 705 is a connecting plate II, 8 is a base, 9 is a screw I,10 is a screw II, 11 is a screw III, 12 is a screw IV,13 is a screw V, and 14 is a screw VI.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the compact high anti-overturning rotary mechanism provided by the invention comprises a joint module 1, a shell 2, a compression ring I3, a compression ring ii 5, a coupler 7 and a base 8, wherein the base 8 is connected with the shell 2 through a crossed roller bearing 4, the compression ring I3 compresses an inner ring of the crossed roller bearing 4 and is connected with the base 8, and the compression ring ii 5 compresses an outer ring of the crossed roller bearing 4 and is connected with the shell 2; the joint module 1 is arranged in the shell 2, and the output end is connected with the base 8 through the coupler 7.
In the embodiment of the invention, the crossed roller bearing 4 is accommodated in the compression ring II 5, the inner ring is limited between the compression ring I3 and the base 8, the compression ring I3 is positioned at the inner side end of the crossed roller bearing 4, and the compression ring I3 is connected with the base 8 through the screw II 10. The outer ring of the crossed roller bearing 4 is connected with a compression ring II 5 through a screw IV 12. The compression ring ii 5 is connected to the housing 2 by means of screws VI 14.
In the embodiment of the invention, an adapter plate 6 is arranged between the coupler 7 and the output end of the joint module 1, and the adapter plate 6 is connected with the coupler 7 through a screw III 11 and is connected with the output end of the joint module 1 through a screw V13. The adapter plate 6 is connected with the output end of the joint module 1 so as to fix the output shaft of the joint module and realize torque transmission.
As shown in fig. 2, in the embodiment of the present invention, the coupling 7 includes a connection plate i 701, a plate spring group 702, a bolt 704, and two connection plates ii 705, wherein a mounting hole is provided at the center of the connection plate i 701, the plate spring group 702 is disposed in the mounting hole, and the two connection plates ii 705 are disposed at both sides of the connection plate i 701 and are connected by the bolt 704, so as to compress the plate spring group 702. The connecting plate I701 is connected with the base 8 through a screw I9, and the connecting plate II 705 is connected with the adapter plate 6 through a screw III 11. The coupler 7 has the characteristics of high torsional rigidity, no back clearance and the like, and ensures the rotation positioning precision of the robot.
In the embodiment of the invention, the input end of the joint module 1 is fixedly connected with the shell 2 through the screw VI14, and the rotary power is output for the whole robot. The outer ring of the crossed roller bearing 4 is matched and connected with the shell 2, the lower end of the outer ring is compressed through a compression ring II 5 and a screw IV12, the inner ring is matched and connected with the base 8, the upper end of the inner ring is compressed through a compression ring I3 and a screw II 10, and the high anti-overturning performance of the robot is met. The lower end of the coupler 7 is fixedly connected with the base 8 through a screw I9, and the upper end of the coupler is connected with the adapter plate 6 through a screw III 11. The adapter plate 6 is fixedly connected with the output end of the joint module 1 through a screw V13, so that zero back clearance torque transmission of the robot is realized.
According to the compact type high-overturning-resistance slewing mechanism provided by the invention, the output end of the robot joint module is fixed on the robot base through the adapter plate and the coupler, and the input end is connected with the robot shell in a matched manner, so that zero-backlash torque transmission of the robot is realized, and the positioning accuracy of the robot is ensured. Meanwhile, the robot shell is matched with the outer ring of the crossed roller bearing, so that the high anti-overturning performance of the robot is guaranteed. The whole mechanism can realize zero back clearance rotation, can resist the whole overturning of the robot, has compact structure and improves the positioning accuracy of the robot.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (4)
1. The compact high-overturning-resistance slewing mechanism is characterized by comprising a joint module (1), a shell (2), a compression ring I (3), a compression ring II (5), a coupler (7) and a base (8), wherein the base (8) is connected with the shell (2) through a crossed roller bearing (4), the compression ring I (3) compresses an inner ring of the crossed roller bearing (4) and is connected with the base (8), and the compression ring II (5) compresses an outer ring of the crossed roller bearing (4) and is connected with the shell (2); the joint module (1) is arranged in the shell (2), and the output end of the joint module (1) is connected with the base (8) through the coupler (7);
the coupler (7) comprises a connecting plate I (701), a plate spring group (702), bolts (704) and two connecting plates II (705), wherein the center of the connecting plate I (701) is provided with a mounting hole, the plate spring group (702) is arranged in the mounting hole, the two connecting plates II (705) are respectively arranged on two sides of the connecting plate I (701), and the two connecting plates II (705) are connected through the bolts (704), so that the plate spring group (702) is pressed.
2. The compact high anti-overturning slewing mechanism as claimed in claim 1, wherein the crossed roller bearing (4) is accommodated in the compression ring (5), and an outer ring of the crossed roller bearing (4) is connected with the compression ring (5) through a screw.
3. Compact high anti-overturning slewing mechanism according to claim 1, characterized in that the compression ring I (3) is located at the inner end of the crossed roller bearing (4) and is connected with the base (8) by means of screws.
4. The compact high anti-overturning slewing mechanism according to claim 1, wherein the coupler (7) is connected with the output end of the joint module (1) through an adapter plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111346657.XA CN113977556B (en) | 2021-11-15 | 2021-11-15 | Compact type high-anti-overturning rotary mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111346657.XA CN113977556B (en) | 2021-11-15 | 2021-11-15 | Compact type high-anti-overturning rotary mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113977556A CN113977556A (en) | 2022-01-28 |
| CN113977556B true CN113977556B (en) | 2023-07-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111346657.XA Active CN113977556B (en) | 2021-11-15 | 2021-11-15 | Compact type high-anti-overturning rotary mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN113977556B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8425620B2 (en) * | 2009-12-08 | 2013-04-23 | Hdt Engineering Services, Inc. | Modular limb segment connector |
| CN203611259U (en) * | 2013-11-26 | 2014-05-28 | 浙江德马科技有限公司 | Union type bearing rotary structure |
| CN105818161A (en) * | 2016-03-30 | 2016-08-03 | 广东工业大学 | Internal-wiring robot revolute joint module |
| JP6765099B2 (en) * | 2016-08-19 | 2020-10-07 | 学校法人千葉工業大学 | Drives and robots |
| CN107263527B (en) * | 2017-06-30 | 2021-02-09 | 东南大学 | Joint device for joint robot |
| CN208966906U (en) * | 2018-07-31 | 2019-06-11 | 天津龙创恒盛实业有限公司 | Servo digital control rotating tower punch special coupler |
| CN109813476B (en) * | 2019-01-23 | 2021-03-16 | 广西大学 | Capacitive torque sensor based on structure decoupling |
| CN213511949U (en) * | 2020-07-21 | 2021-06-22 | 尔智机器人(珠海)有限公司 | Component type harmonic speed reducer ware and joint |
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2021
- 2021-11-15 CN CN202111346657.XA patent/CN113977556B/en active Active
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| Publication number | Publication date |
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| CN113977556A (en) | 2022-01-28 |
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