CN115871018A - Industrial robot joint drive auto-lock worm gear reduction gear - Google Patents
Industrial robot joint drive auto-lock worm gear reduction gear Download PDFInfo
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- CN115871018A CN115871018A CN202310143753.7A CN202310143753A CN115871018A CN 115871018 A CN115871018 A CN 115871018A CN 202310143753 A CN202310143753 A CN 202310143753A CN 115871018 A CN115871018 A CN 115871018A
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to the technical field of worm and gear speed reducers, in particular to an industrial robot joint driving self-locking worm and gear speed reducer, wherein a mounting seat is rotatably provided with a supporting shaft through a bearing, a full-tooth worm gear is fixedly arranged on the supporting shaft through a spline shaft sleeve, a driving worm is rotatably arranged on the mounting seat through the bearing, a positioning driving mechanism is arranged on the mounting seat, the positioning driving mechanism and the supporting shaft are arranged in a matched manner, an auxiliary locking mechanism is arranged on the positioning driving mechanism, and the auxiliary locking mechanism and the supporting shaft are arranged in a matched manner; this reduction gear sets up a set of independent axle locking system, is non-fixed position's characteristics based on reduction gear output shaft locking position simultaneously, sets up corresponding positioning system to locking system to the convenience is shut down at the reduction gear, and behind the worm gear structure auto-lock, further locks the worm-gear axle, thereby shares the power of holding of worm wheel, worm, in order to realize the protection to worm wheel, worm structure.
Description
Technical Field
The invention relates to the technical field of worm and gear speed reducers, in particular to a joint-driven self-locking worm and gear speed reducer of an industrial robot.
Background
The worm and gear reducer is a set of devices which utilize a worm wheel and a worm structure to carry out transmission, generally utilizes a worm shaft as an input end and a worm wheel shaft as an output end, thereby realizing speed reduction transmission, and further realizing power output with low rotating speed and large torque, and further the reducer is commonly used for driving a joint shaft of mechanical equipment.
Disclosure of Invention
The invention aims to provide an industrial robot joint driving self-locking worm and gear reducer aiming at the defects and shortcomings of the prior art, the reducer is provided with a group of independent shaft locking systems, and meanwhile, the locking systems are provided with corresponding positioning systems based on the characteristic that the locking position of an output shaft of the reducer is a non-fixed position, so that the reducer is conveniently shut down, and after the worm and gear structure is self-locked, a worm and gear shaft is further locked, so that the holding power of a worm and gear is shared, and the protection of the worm and gear structure is realized.
In order to achieve the purpose, the invention adopts the following technical scheme:
it contains mount pad, driving motor, the drive worm, full-tooth worm wheel, wherein is equipped with the back shaft through the bearing soon on the mount pad, and full-tooth worm wheel passes through the fixed setting of spline axle sleeve on the back shaft, and the drive worm passes through the bearing and establishes soon on the mount pad, and drive worm and full-tooth worm wheel intermeshing set up, and driving motor is fixed to be set up on the mount pad, and the end of drive worm passes through the fixed setting of spline axle sleeve on driving motor's output shaft, and it still contains:
the positioning driving mechanism is arranged on the mounting seat and is matched with the supporting shaft;
the auxiliary locking mechanism is arranged on the positioning driving mechanism and is matched with the supporting shaft;
when the locking mechanism is used, the mounting base is fixed on a joint mounting mechanism of a robot, the end of the supporting shaft is connected with a joint shaft of the robot, the driving motor drives the driving worm to rotate, the driving worm drives the full-tooth worm gear to rotate and drives the supporting shaft to rotate, the supporting shaft drives the joint shaft of the robot to rotate, so that a joint arm of the robot is driven to rotate, after the driving motor stops working, the driving worm stops rotating and locks the full-tooth worm gear, so that locking of the supporting shaft, namely locking of the joint shaft of the robot is realized, after the driving motor hangs up and stops working, the angle position of the auxiliary locking mechanism is adjusted through the positioning driving mechanism, secondary locking is carried out on the supporting shaft through the auxiliary locking mechanism, and locking of the joint shaft of the robot is strengthened.
Preferably, the positioning driving mechanism comprises:
the mounting rack is sleeved on the support shaft in a screwing manner through a bearing;
the half-tooth worm wheel is fixedly arranged on the mounting frame and is arranged coaxially with the support shaft;
the positioning worm is arranged on the mounting seat in a rotating mode through a bearing, and the positioning worm is meshed with the half-tooth worm wheel;
the positioning motor is fixedly arranged on the mounting seat, and the end of the positioning worm is fixedly arranged on an output shaft of the positioning motor through a spline shaft sleeve;
when the positioning mechanism is used, the positioning motor drives the positioning worm to rotate, the positioning worm drives the half-tooth worm wheel to rotate, the half-tooth worm wheel drives the mounting frame to rotate, the mounting frame drives the auxiliary locking mechanism to rotate and adjust the position, the auxiliary locking mechanism is adjusted to be matched with the supporting shaft which stops rotating, and the supporting shaft is locked through the auxiliary locking mechanism.
Preferably, the auxiliary locking mechanism comprises:
the locking chuck is sleeved and fixed on the supporting shaft and arranged in front of the mounting frame;
the connecting frame is fixedly arranged on the mounting frame;
the locking push rod is fixedly arranged on the connecting frame;
the locking clamping jaw is fixedly arranged at the output shaft end of the locking push rod, and the locking clamping jaw and the locking chuck are mutually meshed and clamped;
the positioning assembly is arranged on the mounting frame and is matched with the support shaft;
when using, when the back shaft is rotatory, the back shaft drives the locking chuck rotatory, when the mounting bracket is rotatory, the mounting bracket drives the locking push rod through the link and rotates, it is rotatory to drive the locking jack catch promptly, stop rotatory when the back shaft, and carry out the locking back through the auto-lock between drive worm and the full-tooth worm wheel, the mounting bracket is rotatory and drive the locking jack catch rotatory, and the mounting bracket fixes a position through locating component, so that align between the tooth of locking jack catch and locking chuck, promote the tooth that the locking jack catch inserted the locking chuck through the locking push rod after that, realize the locking to the back shaft promptly.
Preferably, the positioning assembly comprises:
the reflective laser positioner is fixedly arranged on the front side wall of the mounting frame;
the positioning disc is sleeved and fixed on the supporting shaft and is arranged in front of the locking chuck;
the reflecting patches are arranged on one side surface of the positioning disc facing the reflecting laser positioner at equal angles;
when using, the back shaft stops rotatory back, the positioning disk stops rotatoryly promptly, reflection paster on the positioning disk at this moment stops rotatoryly, and the reflection paster corresponds with the position of the tooth of locking chuck, start reflective laser locator this moment, the mounting bracket is rotatory, it is rotatory when the mounting bracket, the laser signal that reflective laser locator sent sweeps reflection paster, and then laser signal is retraced and is received laser signal through reflective laser locator again through reflection paster reflection, this moment the mounting bracket drives the tooth's socket alignment location of locking jack catch and locking chuck promptly, close the positioning motor this moment, the mounting bracket stops rotatoryly promptly.
Preferably, the mounting seat is fixedly provided with two supporting blocks, the two supporting blocks are symmetrically arranged on two sides of the mounting frame respectively, and a pressure sensor is fixedly arranged on one side, facing the mounting frame, of each supporting block.
Preferably, a partition plate is fixedly arranged on the mounting seat, one end of the driving worm, which is connected with the driving motor, is screwed and penetrated on the partition plate through a bearing, and one end of the positioning worm, which is connected with the positioning motor, is screwed and penetrated on the partition plate through a bearing.
Compared with the prior art, the invention has the beneficial effects that:
1. the device drives the support shaft to rotate through the full-tooth worm wheel by virtue of the self-locking characteristic of the worm wheel and the worm, drives the driving worm to rotate through the driving motor, and then locks the full-tooth worm wheel through the driving worm after the driving motor is stopped;
2. the locking push rod is installed on the installation frame through the connecting frame, the installation frame is movably sleeved on the supporting shaft, the installation frame is driven to rotate through the structure of the half-tooth worm wheel and the positioning worm, and then the installation frame can rotate, so that the locking clamping jaws are driven by the installation frame to position the teeth of the locking clamping chuck after the supporting shaft drives the locking clamping chuck to rotate and stop, and then the locking clamping jaws are inserted into the locking clamping chuck through the locking push rod to lock the supporting shaft for the second time;
3. the fixed positioning disk that sets up on the back shaft, set up the reflection paster on the positioning disk, and the reflection paster is corresponding with the tooth of locking chuck, sets up reflective laser locator on the mounting bracket, and then realizes that the mounting bracket relies on the reflection paster to fix a position, realizes the location between locking jack catch and the locking chuck promptly.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a schematic structural diagram of a positioning driving mechanism and an auxiliary locking mechanism in the invention.
Fig. 4 is a schematic structural view of a full-tooth worm wheel and a driving worm in the invention.
Fig. 5 is a schematic structural view of the mounting bracket of the present invention.
Fig. 6 is a schematic structural view of a positioning plate and a reflective patch of the present invention.
Fig. 7 is a schematic structural view of the mounting seat of the present invention.
Description of reference numerals:
the device comprises a mounting base 1, a driving motor 2, a driving worm 3, a full-tooth worm wheel 4, a positioning driving mechanism 5, a mounting rack 5-1, a half-tooth worm wheel 5-2, a positioning worm 5-3, a positioning motor 5-4, an auxiliary locking mechanism 6, a locking chuck 6-1, a connecting rack 6-2, a locking push rod 6-3, a locking claw 6-4, a positioning component 7, a reflective laser positioner 7-1, a positioning disc 7-2, a reflective patch 7-3, a supporting block 8, a pressure sensor 9, a partition plate 10 and a supporting shaft 11.
Detailed description of the preferred embodiments
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings, and the preferred embodiments in the description are only examples, and all other embodiments obtained by those skilled in the art without any inventive work belong to the protection scope of the present invention.
Examples
As shown in fig. 1, this embodiment contains mount pad 1, driving motor 2, drive worm 3, full-tooth worm wheel 4, wherein be equipped with back shaft 11 through the bearing soon on the mount pad 1, full-tooth worm wheel 4 passes through the fixed setting of spline shaft sleeve on back shaft 11, drive worm 3 establishes on mount pad 1 through the bearing soon, and drive worm 3 and the setting of full-tooth worm wheel 4 intermeshing, driving motor 2 is fixed to be set up on mount pad 1, the end of drive worm 3 passes through the fixed setting of spline shaft sleeve on driving motor 2's output shaft, it still contains:
the positioning driving mechanism 5 is arranged on the mounting seat 1, and the positioning driving mechanism 5 is matched with the supporting shaft 11;
the auxiliary locking mechanism 6 is arranged on the positioning driving mechanism 5, and the auxiliary locking mechanism 6 is matched with the supporting shaft 11;
by adopting the above design scheme, when the mounting base 1 is used, the mounting base 1 is fixed on a joint mounting mechanism of a robot, the end of the supporting shaft 11 is connected with a joint shaft of the robot, the driving motor 2 drives the driving worm 3 to rotate, the driving worm 3 drives the full-tooth worm wheel 4 to rotate and drives the supporting shaft 11 to rotate, the supporting shaft 11 drives the joint shaft of the robot to rotate, so that a joint arm of the robot is driven to rotate, after the driving motor 2 stops working, the driving worm 3 stops rotating and locks the full-tooth worm wheel 4, so that the supporting shaft 11 is locked, namely the joint shaft of the robot is locked, after the driving motor 2 stops hanging up, the angular position of the auxiliary locking mechanism 6 is adjusted through the positioning driving mechanism 5, and the supporting shaft 11 is secondarily locked through the auxiliary locking mechanism 6, so that the locking of the joint shaft of the robot is strengthened.
Examples
As shown in fig. 1 to 7, in addition to the above embodiment 1, the positioning drive mechanism 5 includes:
the mounting rack 5-1 is sleeved on the support shaft 11 in a screwing manner through a bearing, and the mounting rack 5-1 is arranged on the support shaft 11 in a screwing manner;
the half-tooth worm wheel 5-2 is fixedly arranged on the mounting rack 5-1, and the half-tooth worm wheel 5-2 and the support shaft 11 are coaxially arranged;
the positioning worm 5-3 is screwed on the mounting base 1 through a bearing, and the positioning worm 5-3 is meshed with the half-tooth worm wheel 5-2;
the positioning motor 5-4 is fixedly arranged on the mounting base 1, and the end of the positioning worm 5-3 is fixedly arranged on an output shaft of the positioning motor 5-4 through a spline shaft sleeve;
the partition plate 10 is fixedly arranged on the mounting seat 1, the positioning worm 5-3 penetrates through the partition plate 10 and then is connected with a shaft of a positioning motor 5-4, the positioning worm 5-3 is in screwed connection with the partition plate 10 through a bearing, the driving worm 3 penetrates through the partition plate 10, and the driving worm 3 is in screwed connection with the partition plate 10 through the bearing;
the number of the supporting blocks 8 is two, the two supporting blocks 8 are symmetrically arranged on two sides of the mounting frame 5-1, and the supporting blocks 8 are fixedly arranged on the mounting base 1;
the pressure sensor 9 is fixedly arranged on the wall of the supporting block 8, which faces one side of the mounting frame 5-1, when the mounting frame 5-1 rotates, and after the mounting frame 5-1 rotates and abuts against the pressure sensor 9, the pressure sensor 9 feeds back signals to an external controller, so that the positioning motor 5-4 is stopped, and the shaft is controlled to rotate reversely when the positioning motor 5-4 is started next time, so that the control of the rotation angle range of the mounting frame 5-1 is realized;
by adopting the design scheme, when the positioning device is used, the positioning motor 5-4 drives the positioning worm 5-3 to rotate, then the positioning worm 5-3 drives the half-tooth worm wheel 5-4 to rotate, the half-tooth worm wheel 5-4 drives the mounting rack 5-1 to rotate, then the mounting rack 5-1 drives the auxiliary locking mechanism 6 to rotate to adjust the position, the auxiliary locking mechanism 6 is adjusted to be matched with the supporting shaft 11 which stops rotating, and then the supporting shaft 11 is locked through the auxiliary locking mechanism 6.
Examples
As shown in fig. 1 to 7, on the basis of the above embodiment 2, the auxiliary locking mechanism 6 includes:
the locking chuck 6-1 is fixedly sleeved on the supporting shaft 11, and the locking chuck 6-1 is arranged in front of the mounting frame 5-1;
the connecting frame 6-2 is fixedly arranged on the mounting frame 5-1;
the locking push rod 6-3 is fixedly arranged on the connecting frame 6-2;
the locking clamping jaw 6-4 is fixedly arranged at the output shaft end of the locking push rod 6-3, and the locking clamping jaw 6-4 and the locking chuck 6-1 are mutually meshed and clamped;
the positioning component 7 is arranged on the mounting frame 5-1, and the positioning component 7 is matched with the support shaft 11;
by adopting the design scheme, when the locking device is used, when the supporting shaft 11 rotates, the supporting shaft 11 drives the locking chuck 6-1 to rotate, when the mounting frame 5-1 rotates, the mounting frame 5-1 drives the locking push rod 6-3 to rotate through the connecting frame 6-2, namely, the locking claw 6-4 is driven to rotate, when the supporting shaft 11 stops rotating and is locked through self-locking between the driving worm 3 and the full-tooth worm wheel 4, the mounting frame 5-1 rotates and drives the locking claw 6-4 to rotate, the mounting frame 5-1 is positioned through the positioning assembly 7, so that the locking claw 6-4 is aligned with teeth of the locking chuck 6-1, then the locking push rod 6-3 pushes the locking claw 6-4 to be inserted into the teeth of the locking chuck 6-1, namely, the locking of the supporting shaft 11 is realized.
Examples
As shown in fig. 1 to 7, on the basis of the above embodiment 3, the positioning assembly 7 includes:
the reflection type laser positioner 7-1 is characterized in that the reflection type laser positioner 7-1 is fixedly arranged on the front side wall of the mounting frame 5-1;
the positioning disc 7-2 is fixedly sleeved on the supporting shaft 11, and the positioning disc 7-2 is arranged in front of the locking chuck 6-1;
the reflecting patches 7-3 are provided in a plurality of numbers, and are fixedly arranged on one side surface of the positioning disk 7-2 facing the reflecting laser positioner 7-1 at equal angles;
by adopting the design scheme, when the locking chuck is used, after the supporting shaft 11 stops rotating, namely the positioning disc 7-2 stops rotating, the reflection patch 7-3 on the positioning disc 7-2 stops rotating at the moment, the reflection patch 7-3 corresponds to the tooth position of the locking chuck 6-1, the reflection type laser positioner 7-1 is started at the moment, the mounting frame 5-1 rotates, when the mounting frame 5-1 rotates, a laser signal sent by the reflection type laser positioner 7-1 sweeps the reflection patch 7-3, the laser signal is reflected and folded back through the reflection patch 7-3 and is received by the reflection type laser positioner 7-1 again, at the moment, the mounting frame 5-1 drives the locking claw 6-4 to align and position with the tooth groove of the locking chuck 6-1, and at the moment, the positioning motor 5-4 is turned off, namely the mounting frame 5-1 stops rotating;
when positioning control is specifically carried out, when the positioning motor 5-4 is started, if the reflective laser positioner 7-1 does not receive a return signal, the positioning motor 5-4 is stopped when the reflective laser positioner 7-1 receives the signal; if the reflective laser locator 7-1 receives the return signal, the positioning motor 5-4 continues to work to drive the mounting rack 5-1 to rotate, and the positioning motor 5-4 stops when the reflective laser locator 7-1 receives the signal next time.
By adopting the technical scheme disclosed by the invention, the following effects can be realized:
when the device is used, the mounting base 1 is fixed on a joint mounting structure part of a robot, the supporting shaft 11 is connected with a joint shaft of the robot, the driving motor 2 drives the driving worm 3 to rotate, the full-tooth worm wheel 4 is driven to rotate, the supporting shaft 11 is driven to rotate, and the joint shaft of the robot is driven to rotate, so that the joint arm of the robot is driven to move to carry out related work, when the robot arm stops moving, the driving motor 2 is shut down, the motor shaft is locked, the driving worm 3 stops rotating and is static at the moment, and the full-tooth worm wheel 4 is locked through the driving worm 3 through the self-locking characteristic between the worm and gear, namely the supporting shaft 11 is locked, namely the joint shaft of the robot is locked;
after the shaft of the driving motor 2 stops rotating, the positioning motor 5-4 is started and drives the positioning worm 5-3 to rotate, the positioning worm 5-3 drives the half-tooth worm wheel 5-2 to rotate so as to drive the mounting frame 5-1 to rotate, the positioning motor 5-4 stops when the reflective laser positioner 7-1 rotating along with the mounting frame 5-1 rotates and aligns to receive an optical signal returned by the reflective patch 7-3, the mounting frame 5-1 is positioned, and the connecting frame 6-2 drives the locking push rod 6-3 and the locking claw 6-4 to move along with the rotation of the mounting frame when the mounting frame 5-1 is positioned, the locking claw 6-4 moves to align to the tooth position of the locking chuck 6-1, the locking push rod 6-3 is controlled to push out the locking claw 6-4 to be inserted into the locking chuck 6-1, and then locking of the locking chuck 6-1 and secondary locking of the supporting shaft 11 are realized;
in the process of rotation of the supporting shaft 11, the supporting shaft 11 drives the locking chuck 6-1 and the positioning disc 7-2 to synchronously move. When the mounting rack 5-1 rotates for positioning, the reflective patches 7-3 on the positioning disk 7-2 are aligned with the teeth of the locking chuck 6-1, and then when the reflective laser positioner 7-1 is aligned with the reflective patches 7-3 and the mounting rack 5-1 stops rotating, the locking jaws 6-4 are aligned with the teeth of the locking chuck 6-1.
By adopting the technical scheme, the following technical advantages can be achieved:
1. the device drives the supporting shaft 11 to rotate through the full-tooth worm wheel 4 and drives the driving worm 3 to rotate through the driving motor 2 through the self-locking characteristic of the worm wheel and the worm, so that the full-tooth worm wheel 4 can be locked through the driving worm 3 after the driving motor 2 is stopped, and the secondary locking of the supporting shaft 11 is realized through the locking chuck 6-1 and the locking jaw 6-4 driven by the locking push rod 6-3;
2. the locking push rod 6-3 is installed on the installation frame 5-1 through the connecting frame 6-2, the installation frame 5-1 is movably sleeved on the supporting shaft 11, the installation frame 5-1 is driven to rotate through the structure of the half-tooth worm wheel 5-2 and the positioning worm 5-3, and the installation frame 5-1 can rotate, so that after the supporting shaft 11 drives the locking chuck 6-1 to rotate and stop, the installation frame 5-1 drives the locking claw 6-4 to position the tooth of the locking chuck 6-1, and further the locking claw 6-4 is inserted into the locking chuck 6-1 through the locking push rod 6-3 to lock the supporting shaft 11 for the second time;
3. the supporting shaft 11 is fixedly provided with a positioning disc 7-2, the positioning disc 7-2 is provided with a reflection patch 7-3, the reflection patch 7-3 corresponds to the teeth of the locking chuck 6-1, the mounting frame 5-1 is provided with a reflection type laser positioner 7-1, and the mounting frame 5-1 is positioned by relying on the reflection patch 7-3, namely the locking chuck 6-4 and the locking chuck 6-1 are positioned.
It will be appreciated by those skilled in the art that modifications and equivalents may be made to the embodiments described above, and that various modifications, equivalents, improvements and the like may be made without departing from the spirit and scope of the invention.
Claims (6)
1. A joint-driven self-locking worm gear reducer of an industrial robot comprises a mounting seat (1), a driving motor (2), a driving worm (3) and a full-tooth worm wheel (4), wherein a supporting shaft (11) is arranged on the mounting seat (1) in a rotating mode through a bearing, the full-tooth worm wheel (4) is fixedly arranged on the supporting shaft (11) through a spline shaft sleeve, the driving worm (3) is arranged on the mounting seat (1) in a rotating mode through the bearing, the driving worm (3) and the full-tooth worm wheel (4) are arranged in an meshed mode, the driving motor (2) is fixedly arranged on the mounting seat (1), and the end of the driving worm (3) is fixedly arranged on an output shaft of the driving motor (2) through the spline shaft sleeve; it is characterized in that it also comprises:
the positioning driving mechanism (5) is arranged on the mounting seat (1), and the positioning driving mechanism (5) is matched with the supporting shaft (11);
and the auxiliary locking mechanism (6) is arranged on the positioning driving mechanism (5), and the auxiliary locking mechanism (6) is matched with the supporting shaft (11).
2. The industrial robot joint drive self-locking worm gear reducer as claimed in claim 1, characterized in that: the positioning driving mechanism (5) comprises:
the mounting rack (5-1), the mounting rack (5-1) is sleeved on the support shaft (11) through a bearing in a screwing manner;
the half-tooth worm wheel (5-2), the half-tooth worm wheel (5-2) is fixedly arranged on the mounting rack (5-1), and the half-tooth worm wheel (5-2) and the support shaft (11) are coaxially arranged;
the positioning worm (5-3) is screwed on the mounting seat (1) through a bearing, and the positioning worm (5-3) and the half-tooth worm wheel (5-2) are meshed with each other;
the positioning worm gear comprises a positioning motor (5-4), wherein the positioning motor (5-4) is fixedly arranged on the mounting base (1), and the end of the positioning worm (5-3) is fixedly arranged on an output shaft of the positioning motor (5-4) through a spline shaft sleeve.
3. The industrial robot joint drive self-locking worm gear reducer as claimed in claim 2, characterized in that: the auxiliary locking mechanism (6) comprises:
the locking chuck (6-1), the locking chuck (6-1) is sleeved and fixed on the supporting shaft (11), and the locking chuck (6-1) is arranged in front of the mounting frame (5-1);
the connecting frame (6-2), the connecting frame (6-2) is fixedly arranged on the mounting frame (5-1);
the locking push rod (6-3), the locking push rod (6-3) is fixedly arranged on the connecting frame (6-2);
the locking clamping jaw (6-4), the locking clamping jaw (6-4) is fixedly arranged at the output shaft end of the locking push rod (6-3), and the locking clamping jaw (6-4) and the locking chuck (6-1) are mutually meshed and clamped;
locating component (7), locating component (7) set up on mounting bracket (5-1), and locating component (7) and back shaft (11) mutually support the setting.
4. The industrial robot joint drive self-locking worm gear reducer as claimed in claim 3, characterized in that: the positioning assembly (7) comprises:
the reflection type laser positioner (7-1), the reflection type laser positioner (7-1) is fixedly arranged on the front side wall of the mounting rack (5-1);
the positioning disc (7-2), the positioning disc (7-2) is sleeved and fixed on the supporting shaft (11), and the positioning disc (7-2) is arranged in front of the locking chuck (6-1);
the reflecting patches (7-3) are provided with a plurality of reflecting patches (7-3), and the reflecting patches (7-3) are fixedly arranged on one side surface of the positioning disc (7-2) facing the reflecting laser positioner (7-1) at equal angles.
5. The industrial robot joint drive self-locking worm gear reducer as claimed in claim 4, characterized in that: the mounting seat (1) is fixedly provided with two supporting blocks (8), the two supporting blocks (8) are symmetrically and respectively arranged on two sides of the mounting frame (5-1), and one side, facing the mounting frame (5-1), of the supporting blocks (8) is fixedly provided with a pressure sensor (9).
6. The industrial robot joint drive self-locking worm gear reducer as claimed in claim 5, characterized in that: a partition plate (10) is fixedly arranged on the mounting seat (1), one end of the driving worm (3) connected with the driving motor (2) is screwed on the partition plate (10) through a bearing, and one end of the positioning worm (5-3) connected with the positioning motor (5-4) is screwed on the partition plate (10) through a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310143753.7A CN115871018B (en) | 2023-02-21 | 2023-02-21 | Industrial robot joint drive auto-lock worm gear reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310143753.7A CN115871018B (en) | 2023-02-21 | 2023-02-21 | Industrial robot joint drive auto-lock worm gear reducer |
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| Publication Number | Publication Date |
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| CN115871018A true CN115871018A (en) | 2023-03-31 |
| CN115871018B CN115871018B (en) | 2023-05-16 |
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| KR20090100729A (en) * | 2008-03-21 | 2009-09-24 | 대성전기공업 주식회사 | Electronic steering column locking apparatus |
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| US20200377147A1 (en) * | 2017-08-25 | 2020-12-03 | Knorr-Bremse Steering System Japan Ltd. | Steering device |
| CN108626314A (en) * | 2018-07-07 | 2018-10-09 | 嘉兴易控智能科技有限公司 | A kind of broken teeth release mechanism for worm-gear speed reducer |
| CN109882547A (en) * | 2019-02-28 | 2019-06-14 | 江苏泰隆减速机股份有限公司 | A kind of speed reducer of worm screw braking worm gear |
| CN112550441A (en) * | 2019-09-26 | 2021-03-26 | 操纵技术Ip控股公司 | Locking mechanism for steering assist system |
| CN112178132A (en) * | 2020-09-16 | 2021-01-05 | 湖北华中光电科技有限公司 | Worm gear center distance adjusting device |
| CN215567677U (en) * | 2021-06-25 | 2022-01-18 | 天津宝恒流体控制设备股份有限公司 | Self-locking structure applied to crossed shaft transmission |
| CN216237915U (en) * | 2021-09-10 | 2022-04-08 | 刘广泉 | Novel tractor track adjusting structure for port service |
| CN217769280U (en) * | 2022-05-25 | 2022-11-08 | 兴化市万达电力工具有限公司 | A tensioner bullwheel for power maintenance |
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| CN115871018B (en) | 2023-05-16 |
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