CN202781183U - Wrist part transmission mechanism for low load industrial robot - Google Patents
Wrist part transmission mechanism for low load industrial robot Download PDFInfo
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- CN202781183U CN202781183U CN 201220084848 CN201220084848U CN202781183U CN 202781183 U CN202781183 U CN 202781183U CN 201220084848 CN201220084848 CN 201220084848 CN 201220084848 U CN201220084848 U CN 201220084848U CN 202781183 U CN202781183 U CN 202781183U
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 238000012827 research and development Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model relates to a wrist part transmission mechanism for a low load industrial robot, wherein a J5 axis and a J6 axis which are two axes on a wrist seat are perpendicular to each other, an input gearwheel shaft of the J6 axis is sleeved with an input gearwheel shaft of the J5 axis, and the input gearwheel shaft of the J6 axis and the input gearwheel shaft of the J5 axis are coaxial. A J5 axis large speed ratio hypoid gearwheel II and an output end of the J5 axis are combined into a coaxial body through a gearwheel shaft, wherein the shaft line of the coaxial body is arranged on the J5 axis. The shaft line of a J6 axis large speed ratio hypoid gearwheel II is arranged on the J5 axis, the J6 axis large speed ratio hypoid gearwheel II and an output shaft of the J6 axis form power transmission through a bevel gearwheel group. A J5 axis large speed ratio hypoid gearwheel I carries power from the input gearwheel shaft of the J5 axis through a gearwheel mechanism and engages with the J5 axis large speed ratio hypoid gearwheel II. A J6 axis large speed ratio hypoid gearwheel I carries power from the input gearwheel shaft of the J6 axis through the gearwheel mechanism and engages with the J6 axis large speed ratio hypoid gearwheel II. Because a large speed ratio hypoid gearwheel transmission speed-reducing device is used to replace a harmonic wave speed reducer for transmission, the wrist part transmission mechanism for a low load industrial robot is advantaged by simple structure, low cost, precise and reliable motion, and lowered robot manufacture cost.
Description
Technical field
The utility model relates to a kind of wrist transmission mechanism for industrial robot, and specifically a kind of low load wrist transmission mechanism for industrial robot belongs to the industrial robot field.
Background technology
In recent years, domestic increasing enterprise and universities and colleges begin cooperative development development industrial robot, start the upsurge of industrial robot research and development.In the robot body R﹠D process, the design of wrist transmission scheme is a very the key link, is one of technological core of whole robot mechanical part research and development.And the cost of wrist mechanical transmission component (mainly being reductor) occupies larger ratio in the mechanical part totle drilling cost.
In the domestic independent research robot wrist transmission scheme of investigation, find, the low load industrial robot wrist drive mechanism that loads in 3-20Kg scope substantially all is the drive mechanism that adopts " servomotor+toothed belt transmission+(bevel gear)+reductor+output ", the concrete scheme of this structure is J5, J6 axle servomotor all is placed on wrist, J5 axle servomotor drives a toothed belt transmission, synchronous pulley drives J5 axle reductor, J5 axle reductor output and J5 axle output link together, thereby drive the J5 axle moves to appointment according to the speed of appointment position; J6 axle servomotor drives a toothed belt transmission, synchronous pulley drives the bevel-gear sett transmission again and changes transmission direction, bevel gear drives J6 axle reductor and rotates, and J6 axle reductor output and J6 axle output link together, thereby drive the J6 axle moves to appointment according to the speed of appointment position, reductor is selected harmonic wave speed reducing machine in this scheme, because harmonic wave speed reducing machine has the advantages such as the speed ratio of transmission is large, transmitting accuracy is high, volume is little, lightweight.Apparent size is little for foreign brand name harmonic wave speed reducing machine (such as Japanese HarmonicDrive), high torque (HT) and high accuracy, life-span are long, and the version variation can satisfy the needs of various drive mechanisms, but price is higher, and delivery cycle is long; Domestic harmonic wave speed reducing machine has certain gap at aspects such as material, manufacture crafts with the foreign brand name harmonic wave speed reducing machine, and under with equal-specification and precision, product price is originally also higher, and the life-span is short, and version is few, and it is larger that apparent size is compared external same specification reductor.
Large speed ratio hypoid gear (having another name called spiroid) transmission accuracy height, transmission speed ratio large (single staged transmission ratio can reach 10～360), high, compact, the long service life of space structure of transmission efficiency, and stable drive, but this gear manufacturing is difficulty comparatively, needs the production equipment of specialty.Along with this kind gear apparatus in recent years research and develop at home successfully and part producer from external this kind of introduction equipment, the application of large speed ratio Hypoid Gear Drives is progressively popularized, and (the general abroad same specification harmonic wave speed reducing machine price of the price of a pair of domestic large speed ratio hypoid gear 10% in) cheap for manufacturing cost.
The utility model content
Technical problem to be solved in the utility model, be to overcome the defective that prior art exists, a kind of low load wrist transmission mechanism for industrial robot has been proposed, adopt large speed ratio Hypoid Gear Drives structure to substitute the harmonic wave speed reducing machine transmission, both can satisfy high accuracy and the high efficiency requirement of general low load robot, can reduce greatly again the manufacturing cost of robot.
A kind of low load wrist transmission mechanism for industrial robot of the utility model comprises wrist seat, J5 axle input gear axle, J6 axle input gear axle, J5 axle output, J6 axle output shaft, J5 axle large speed ratio hypoid gear I, J5 axle large speed ratio hypoid gear II, J6 axle large speed ratio hypoid gear I, J6 axle large speed ratio hypoid gear II; It is characterized in that:
J5 axle and J6 axle are the virtual axis (O of two on the wrist seat
5-O
5, O
6-O
6), and the J5 axle is mutually vertical with the J6 axle;
J5 axle input gear axle is hollow shaft, and J6 axle input gear axle sleeve is loaded in the J5 axle input gear axle, and both are coaxial;
J5 axle large speed ratio hypoid gear II and J 5 axle outputs are same axis body by gear shaft connection, and its axis is positioned on J 5 axles, and J5 axle large speed ratio hypoid gear II (6) is hollow shaft structure;
J6 axle large speed ratio hypoid gear II is provided with J6 axle large speed ratio hypoid gear wheel shaft II, and the axis of J6 axle large speed ratio hypoid gear wheel shaft II is positioned on J 5 axles;
The axis of J6 axle output shaft is positioned on the J6 axle, and J6 axle large speed ratio hypoid gear wheel shaft II and J6 axle output shaft form transmission of power by bevel gear set;
J5 axle large speed ratio hypoid gear I is accepted power from J5 axle input gear axle by gear mechanism, J5 axle large speed ratio hypoid gear I and the engagement of J5 axle large speed ratio hypoid gear II;
J6 axle large speed ratio hypoid gear I is accepted power from J6 axle input gear axle by gear mechanism, J6 axle large speed ratio hypoid gear I and the engagement of J6 axle large speed ratio hypoid gear II.
The utility model hangs down load wrist transmission mechanism for industrial robot, by using large speed ratio hypoid gear (having another name called spiroid) transmission decelerating device to replace the harmonic wave speed reducing machine transmission, thereby simple in structure, with low cost, the action accurately and reliably, reduced the manufacturing cost of robot.
Description of drawings
Fig. 1 is the low load wrist transmission mechanism for industrial robot structural representation of the utility model.
Fig. 2 is that Fig. 1 P is to schematic diagram (cutaway view).
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is elaborated.
Embodiment: the utility model hangs down load wrist transmission mechanism for industrial robot, comprises wrist seat 12, J5 axle input gear axle 1, J6 axle input gear axle 11, J5 axle output 13, J6 axle output shaft 7, J5 axle large speed ratio hypoid gear I 3, J5 axle large speed ratio hypoid gear II 6, J6 axle large speed ratio hypoid gear I 4, J6 axle large speed ratio hypoid gear II 5.
J5 axle and J6 axle are the virtual axis (O of two on the wrist seat
5-O
5, O
6-O
6), and the J5 axle is mutually vertical with the J6 axle.
J5 axle input gear axle 1 is hollow shaft, and J6 axle input gear axle 11 is set in the J5 axle input gear axle 1, and both are coaxial.
J5 axle large speed ratio hypoid gear II 6 is same axis body with J 5 axle outputs 13 by gear shaft connection, and its axis is positioned on J 5 axles, and J5 axle large speed ratio hypoid gear II (6) is hollow shaft structure.
J6 axle large speed ratio hypoid gear II 5 is provided with J6 axle large speed ratio hypoid gear wheel shaft II, and the axis of J6 axle large speed ratio hypoid gear wheel shaft II is positioned on J 5 axles.
The axis of J6 axle output shaft 7 is positioned on the J6 axle, and J6 axle large speed ratio hypoid gear wheel shaft II and J6 axle output shaft 7 form transmission of power by bevel gear set.
J5 axle large speed ratio hypoid gear I 3 is accepted power from J5 axle input gear axle 1 by gear mechanism, J5 axle large speed ratio hypoid gear I 3 and 6 engagements of J5 axle large speed ratio hypoid gear II.
J6 axle large speed ratio hypoid gear I 4 is accepted power from J6 axle input gear axle 11 by gear mechanism, J6 axle large speed ratio hypoid gear I 4 and 5 engagements of J6 axle large speed ratio hypoid gear II.
As shown in Figure 1, J5 axle input gear axle 1, J5 axle idle pulley 2, J5 axle large speed ratio hypoid gear I 3, J6 axle large speed ratio hypoid gear I 4, J6 axle large speed ratio hypoid gear II 5, J5 axle large speed ratio hypoid gear II 6, J6 axle idle pulley 10, J6 axle input gear axle 11 all are installed on the wrist seat 12 by bearing, and the axis around each self-retaining rotates respectively.
J6 axle large speed ratio hypoid gear wheel shaft II is provided with J6 axial cone gear I 9, and J6 axial cone gear I 9 is integrated with J6 axle large speed ratio hypoid gear II 5.
J6 axial cone gear II 8 links together with J6 axle output shaft (7).
As shown in Figure 1 and Figure 2: J5 axle large speed ratio hypoid gear II 6 and J6 axle large speed ratio hypoid gear II 5 all are placed on a side of wrist seat, radially mutually support by deep groove ball bearing, concern without sports coupling.
J5 axle large speed ratio hypoid gear I 3 forms gear pair with J5 axle large speed ratio hypoid gear II 6, and J5 axle large speed ratio hypoid gear I 3 is placed on the below of wrist seat 12 inner spaces.
J6 axle large speed ratio hypoid gear I 4 forms gear pair with J6 axle large speed ratio hypoid gear II 5, and J6 axle large speed ratio hypoid gear I 4 is placed on the top of wrist seat 12 inner spaces.
The gear of J5 axle input gear axle 1 end consists of power transmission relationship by the end gear of J5 axle idle pulley 2 and J5 axle large speed ratio hypoid gear I 3 with J5 axle large speed ratio hypoid gear I 3.
J6 axle input gear axle 11 consists of power transmission relationship by the gear of J6 axle idle pulley 10 and J6 axle large speed ratio hypoid gear I 4 ends with J6 axle large speed ratio hypoid gear I 4.
In the said structure, two pairs of large speed ratio hypoid gear pairs are arranged in the same side of robot wrist, J5 axle large speed ratio hypoid gear I and J6 axle large speed ratio hypoid gear I are arranged in parallel up and down, and the coaxial front and back of J5 axle large speed ratio hypoid gear II and J6 axle large speed ratio hypoid gear II homonymy are arranged.To save the gear drive requisite space, reduce wrist external dimensions and wrist quality.J5 axle input gear axle and J6 axle input gear axle coaxial line are arranged, to reduce the wrist external dimensions.
Concrete transmission principle:
J5 through-drive route: when J5 axle input gear axle 1 rotates, by J5 axle idle pulley 2 will rotate and moment of torsion pass to J5 axle large speed ratio hypoid gear I 3, and J5 axle large speed ratio hypoid gear I 3 and 6 engagements of J5 axle large speed ratio hypoid gear II, J5 axle large speed ratio hypoid gear II 6 is fixed together with J5 axle output 13, thereby will rotate and moment of torsion passes to J5 axle output 13 after according to corresponding speed ratio relationship conversion, the band dynamic load is around O
5-O
5Axis turns to the position of appointment with the speed of appointment.
J6 through-drive route: when J6 axle input gear axle 11 rotates, by J6 axle idle pulley 10 will rotate and moment of torsion pass to J6 axle large speed ratio hypoid gear I 4, to rotate with moment of torsion by J6 axle large speed ratio hypoid gear I 4 and 5 engagements of J6 axle large speed ratio hypoid gear II again and pass to J6 axial cone gear I 9 after according to corresponding speed ratio relationship conversion, final will the rotation with moment of torsion by the engagement of J6 axial cone gear I 9 and J6 axial cone gear II 8 again passes to J6 axle output shaft 7, and the band dynamic load is around O
6-O
6Axis turns to the position of appointment with the speed of appointment.
Claims (1)
1. a low load wrist transmission mechanism for industrial robot comprises wrist seat (12), J5 axle input gear axle (1), J6 axle input gear axle (11), J5 axle output (13), J6 axle output shaft (7), J5 axle large speed ratio hypoid gear I (3), J5 axle large speed ratio hypoid gear II (6), J6 axle large speed ratio hypoid gear I (4), J6 axle large speed ratio hypoid gear II (5); It is characterized in that:
J5 axle and J6 axle are the virtual axis (O of two on the wrist seat
5-O
5, O
6-O
6), and the J5 axle is mutually vertical with the J6 axle;
J5 axle input gear axle (1) is hollow shaft, and J6 axle input gear axle (11) is set in the J5 axle input gear axle, and both are coaxial;
J5 axle large speed ratio hypoid gear II (6) is same axis body with J 5 axle outputs (13) by gear shaft connection, and its axis is positioned on J 5 axles, and J5 axle large speed ratio hypoid gear II (6) is hollow shaft structure;
J6 axle large speed ratio hypoid gear II (5) is with J6 axle large speed ratio hypoid gear wheel shaft II, and the axis of J6 axle large speed ratio hypoid gear wheel shaft II is positioned on J 5 axles;
The axis of J6 axle output shaft (7) is positioned on the J6 axle, and J6 axle large speed ratio hypoid gear wheel shaft II and J6 axle output shaft form transmission of power by bevel gear set;
J5 axle large speed ratio hypoid gear I (3) is accepted power from J5 axle input gear axle (1) by gear mechanism, J5 axle large speed ratio hypoid gear I (3) and J5 axle large speed ratio hypoid gear II (6) engagement;
J6 axle large speed ratio hypoid gear I (4) is accepted power from J6 axle input gear axle (11) by gear mechanism, J6 axle large speed ratio hypoid gear I (4) and J6 axle large speed ratio hypoid gear II (5) engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220084848 CN202781183U (en) | 2012-03-08 | 2012-03-08 | Wrist part transmission mechanism for low load industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220084848 CN202781183U (en) | 2012-03-08 | 2012-03-08 | Wrist part transmission mechanism for low load industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202781183U true CN202781183U (en) | 2013-03-13 |
Family
ID=47808517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220084848 Expired - Lifetime CN202781183U (en) | 2012-03-08 | 2012-03-08 | Wrist part transmission mechanism for low load industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202781183U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554935A (en) * | 2012-03-08 | 2012-07-11 | 南京埃斯顿机器人工程有限公司 | Low load wrist transmission mechanism for industrial robot |
| CN103144102A (en) * | 2013-03-28 | 2013-06-12 | 南京妙手机电科技有限公司 | Mechanical arm with connecting module with two degrees of freedom |
-
2012
- 2012-03-08 CN CN 201220084848 patent/CN202781183U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554935A (en) * | 2012-03-08 | 2012-07-11 | 南京埃斯顿机器人工程有限公司 | Low load wrist transmission mechanism for industrial robot |
| WO2013131459A1 (en) * | 2012-03-08 | 2013-09-12 | 南京埃斯顿机器人工程有限公司 | Low load wrist transmission mechanism for industrial robot |
| CN103144102A (en) * | 2013-03-28 | 2013-06-12 | 南京妙手机电科技有限公司 | Mechanical arm with connecting module with two degrees of freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130313 |
|
| CX01 | Expiry of patent term |