CN203293210U - Robot ball type worm gear speed reducing joint - Google Patents
Robot ball type worm gear speed reducing joint Download PDFInfo
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- CN203293210U CN203293210U CN2013202603610U CN201320260361U CN203293210U CN 203293210 U CN203293210 U CN 203293210U CN 2013202603610 U CN2013202603610 U CN 2013202603610U CN 201320260361 U CN201320260361 U CN 201320260361U CN 203293210 U CN203293210 U CN 203293210U
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- worm gear
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Abstract
The utility model discloses a robot ball type worm gear speed reducing joint which comprises a main speed reducing driving motor, a first auxiliary speed reducing driving motor, a second auxiliary speed reducing driving motor, a supporting mechanical arm and transmission cables. The robot ball type worm gear speed reducing joint is characterized in that a shaft end of the main speed reducing driving motor, a shaft end of the first auxiliary speed reducing driving motor and a shaft end of the second auxiliary speed reducing driving motor are all connected with ball type worm gear speed reducing transmission devices, a rotating disc is arranged on the upper side of a main ball type worm gear speed reducing transmission device, a first auxiliary ball type worm gear speed reducing transmission device and a second auxiliary ball type worm gear speed reducing transmission device are respectively connected with the supporting mechanical arm and a connecting rod, and the upper end of the connecting rod is in rotating connection with the back end of a hand gripping arm. According to the speed reducing joint, the ball type worm gear speed reducing transmission devices are used, and accordingly bearing capacity is large, transmission rate is high, transmission is stable, noise is removed, service life is long, self locking can be achieved, mounting is easy, maintaining is easy, mounting space is saved to a larger extent, and meanwhile manufacturing cost is lowered, due to the fact that the transmission cables are arranged in the ball type worm gear speed reducing transmission devices, transmission cable twisting can be avoided, operation is convenient, and structure is more attractive.
Description
Technical field
The utility model relates to the improvement in a kind of robot deceleration joint, specifically a kind of robot ball-type worm gear reducer joint.
Background technology
Development along with the industrial automation technology, robot has been widely used in the fields such as heavy industry, machinery, mine, electronics, wherein the joint of robot is most important, the most basic, the most complicated parts, and it plays rotation, turns to, the motor function of lifting, a plurality of frees degree such as flexible.At present, joint of robot mainly contains two kinds: a kind of is that motor driven gear rotates, its advantage is that the drive unit positioning precision is high, good rigidly, bearing capacity is strong, and output torque is little, frictional force large, the poor shortcoming of action flatness but exist, simultaneously, main dependence on import, price is high, receipt period is long; Another kind is to adopt artificial-muscle to drive, and with the transmission of stretching wirerope, its advantage is that the drive unit compliance is good, action is level and smooth, response is fast, but has the just deficiency of unidirectional drive.Joint of robot is according to the difference at position, and its structure is also different, for the joint of different parts, design separately.The utility model lays particular emphasis on the waist joint of the robot with carrying function.Waist joint with robot of carrying function, its structure comprises: the first subjoint of rotary rack, supported mechanical arm, the main joint that rotates along vertical axis and mechanical arm swing, control and grab the second subjoint that transverse arm moves, main joint and subjoint are gear drive, be arranged on rotary rack, what transmission cable had is laid in outside reducing gear.The deficiency in the waist joint of this robot with carrying function is: the one, owing to still adopting gear drive, so output torque is little, frictional force large, the action flatness is poor, do not have auto-lock function, motor need add the anti-rotation of band-type brake; The 2nd, due to what transmission cable had, be laid in the reductor outside, so structure is not compact, use inconvenient.As can be known by retrieving, have not yet to see and both have gear-driven advantage, have again that frictional force is little, the action flatness is good, have auto-lock function and by the report of transmission cable from the robot waist joint that the deceleration articulation center passes, simple in structure, fitting operation has the carrying function easily.
Summary of the invention
The purpose of this utility model is to provide a kind of gear-driven advantage that both had, have again that frictional force is little, the action flatness is good, have auto-lock function and transmission cable from the deceleration articulation center pass, simple in structure, fitting operation robot ball-type worm gear reducer joint easily.
in order to reach above purpose, the technical scheme that the utility model adopts is: this robot ball-type worm gear reducer joint, comprise main deceleration motor, the first secondary deceleration motor, the second secondary deceleration motor, rolling disc and supported mechanical arm and transmission cable, the first secondary deceleration motor and the second secondary deceleration motor are fixedly mounted on rolling disc, it is characterized in that: the axle head of described main deceleration motor connects upper main ball-type worm gear speed reducing transmission device, rolling disc is by worm gear suitable for reading be fixedly connected with of connecting bolt with main ball-type worm gear speed reducing transmission device, the axle head of the described second secondary deceleration motor connects the upper second secondary ball-type worm gear speed reducing transmission device, and the inboard of the second secondary ball-type worm gear speed reducing transmission device is rotated flange and is fixedly connected with the bottom of supported mechanical arm, the axle head of the described first secondary deceleration motor connects the upper first secondary ball-type worm gear speed reducing transmission device, inboard " N " shape of the first secondary ball-type worm gear speed reducing transmission device is turned handle and is connected with the bottom of connecting rod by bearing pin, the rear end of the upper end of connecting rod and handgrip arm is rotationally connected, and connecting rod is in the rear side of supported mechanical arm, the plate flexible connection is turned with the triangle that is fixed on the second secondary ball-type worm gear speed reducing transmission device outer wall in the flat bottom of controlling pull bar of the horizontal saliva of handgrip mouth, by the horizontal saliva of handgrip mouth, equals the level all the time that pull bar is realized the handgrip mouth of controlling.
The utility model is also implemented by following measure: described main ball-type worm gear speed reducing transmission device, comprise worm and worm wheel, and a section of touching mutually of worm and wheel coordinates section for radian, by the radian section of cooperation, can increase the transmission area of power; On the radian cooperation section of worm screw, be provided with the ball screw channel, in the ball screw channel, be provided with the ball continuously arranged, that diameter is identical, the roll channel of the involutory formation ball of the teeth groove on ball screw channel and worm gear; At the clearing end of the ball screw channel of worm screw, be provided with ball and fall hole after rise, at the radian of worm screw, coordinate in section in being provided with and return the pearl passage, ball falls hole after rise and is connected with interior time pearl passage by the excessive passage of radian, and the oral area in ball falling hole is provided with ball rollback gib block; Initiating terminal at the ball screw channel is provided with the round hole of ball, ball comes and goes hole and is connected with the round end of interior time pearl passage by the excessive passage of radian, simultaneously, it is corresponding with the both port of origination of ball screw channel that ball comes and goes hole, and the oral area that comes and goes hole at ball is provided with ball importing screw channel gib block; At the radian of worm screw, coordinate the outside of section to be provided with the ball protective sleeve, a side of ball protective sleeve be provided with the protecting sheathing of worm gear fixing snap in mouth, on the end wall of ball protective sleeve, be provided with the worm screw mounting groove; Described worm gear is ring-type, is sleeved on retainer ring, between the inwall of the outer wall of retainer ring and worm gear, is provided with crossed roller bearing, and the center of retainer ring is axially extending bore, and retainer ring is fixed by set bolt and base plate; The end of worm screw also be provided with main deceleration motor, be connected the motor shaft installing hole.
Described ball screw channel is provided with the 4-8 ring; One section of touching mutually of worm and wheel coordinates a kind of in section for radian coordinates section or straight-bar.
Described ball rollback gib block is wrapped in the ball screw channel on worm screw, and an end is stiff end, and the other end is guide end, and stiff end inserts in the radial blind holes of worm screw, and the guide end gear falls the opening's edge rear side in hole after rise at ball; The structure that described ball imports the screw channel gib block is identical with the structure of ball rollback gib block, opposite direction.
In described, returning the pearl passage rotates and processes by electric spark.
The structure of the described first secondary ball-type worm gear speed reducing transmission device and the second secondary ball-type worm gear speed reducing transmission device is identical with the structure of main ball-type worm gear speed reducing transmission device, and the plane, worm gear place of the plane, worm gear place of the first secondary ball-type worm gear speed reducing transmission device and the second secondary ball-type worm gear speed reducing transmission device is all vertical with the plane, worm gear place of main ball-type worm gear speed reducing transmission device; The Worm and Worm Gear Driving of its main ball-type worm gear speed reducing transmission device is than being 1:80, and the Worm and Worm Gear Driving ratio of the first secondary ball-type worm gear speed reducing transmission device and the second secondary ball-type worm gear speed reducing transmission device is 1:60.Ball on worm screw is arc to flank profil and distributes, and contact tooth can reach 4-6 tooth, stable drive, noiseless simultaneously.
Described transmission cable passes successively in the axially extending bore in the inner retainer ring of worm gear of main ball-type worm gear speed reducing transmission device and the corresponding axially extending bore of the first secondary ball-type worm gear speed reducing transmission device, the second secondary ball-type worm gear speed reducing transmission device in.
The utility model also can be according to the difference of joint part, by changing the deceleration joint of gearratio for other positions.
The beneficial effects of the utility model are: with the waist joint of the robot that has at present the carrying function, compare, owing to having adopted ball-type worm gear speed reducing transmission device to replace gear drive, so have that bearing capacity is large, transmission ratio is high, stable drive, noiseless, long service life, have auto-lock function, simple installation, be easy to safeguard, saved to a greater extent installing space, simultaneously, reduced cost of manufacture; Owing to transmission cable being installed in ball-type worm gear speed reducing transmission device, thus can prevent that transmission cable is wound around, and also easy to operate, make structure more attractive in appearance.
The accompanying drawing explanation
Fig. 1 is that schematic diagram cuts open in structure backsight of the present utility model office.
Fig. 2 is that the structure of main ball-type worm gear speed reducing transmission device of the present utility model is analysed and observe enlarged diagram.
Fig. 3 is that the worm structure of main ball-type worm gear speed reducing transmission device of the present utility model is overlooked enlarged diagram.
Fig. 4 is the ball protective sleeve of main ball-type worm gear speed reducing transmission device of the present utility model, overlooks enlarged diagram.
Fig. 5 is the ball-recirculation principle enlarged diagram of main ball-type worm gear speed reducing transmission device of the present utility model.
Fig. 6 is that interior time pearl channel design of main ball-type worm gear speed reducing transmission device of the present utility model analysed and observe enlarged diagram.
Fig. 7 is the ball rollback gib block structure side-looking enlarged diagram of main ball-type worm gear speed reducing transmission device of the present utility model.
Fig. 8 is installation application state schematic side view of the present utility model.
In figure: 1, main deceleration motor; 2, the first secondary deceleration motor; 3, the second secondary deceleration motor; 4, rolling disc; 5, supported mechanical arm; 6, main ball-type worm gear speed reducing transmission device; 601, worm screw; 602, worm gear; 603, radian coordinates section; 604, ball screw channel; 605, ball; 606, ball falls hole after rise; 607, interior time pearl passage; 608, ball rollback gib block; 609, ball comes and goes hole; 610, ball imports the screw channel gib block; 611, ball protective sleeve; 612, snap in mouth; 613, worm screw mounting groove; 614, motor shaft installing hole; 615, axially extending bore; 616, protecting sheathing; 617, retainer ring; 618, crossed roller bearing; 7, the first secondary ball-type worm gear speed reducing transmission device; 8, the inboard flange that rotates; 9, the second secondary ball-type worm gear speed reducing transmission device; 10, the flat pull bar of controlling of the horizontal saliva of handgrip mouth; 11, " N " shape is turned handle; 12, connecting rod; 13, transmission cable; 14, base plate; 15, triangle turns plate; 16, connecting bolt; 17, set bolt; 18, underframe.
The specific embodiment
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, make the utility model.
this robot ball-type worm gear reducer joint, comprise main deceleration motor 1, the first secondary deceleration motor 2, the second secondary deceleration motor 3, rolling disc 4 and supported mechanical arm 5 and transmission cable 13, the first secondary deceleration motor 2 and the second secondary deceleration motor 3 are fixedly mounted on rolling disc 4, it is characterized in that: the axle head of described main deceleration motor 1 connects upper main ball-type worm gear speed reducing transmission device 6, rolling disc 4 is by worm gear suitable for reading be fixedly connected with of connecting bolt 16 with main ball-type worm gear speed reducing transmission device 6, by main ball-type worm gear speed reducing transmission device 6, drive the rotation of rolling disc 4, thereby realize rotating along vertical axial of supported mechanical arm 5, the axle head of the described second secondary deceleration motor 3 connects the upper second secondary ball-type worm gear speed reducing transmission device 9, the inboard of the second secondary ball-type worm gear speed reducing transmission device 9 is rotated flange 8 and is fixedly connected with the bottom of supported mechanical arm 5, by the second secondary ball-type worm gear speed reducing transmission device 9, realizes the forward and backward swing of supported mechanical arm 5, the axle head of the described first secondary deceleration motor 2 connects the upper first secondary ball-type worm gear speed reducing transmission device 7, inboard " N " shape of the first secondary ball-type worm gear speed reducing transmission device 7 is turned handle 11 and is connected with the bottom of connecting rod 12 by bearing pin, the rear end of the upper end of connecting rod 12 and handgrip arm is rotationally connected, connecting rod 12 is in the rear side of supported mechanical arm 5, and " N " shape by the first secondary ball-type worm gear speed reducing transmission device 7 is turned the lifting that handle 11 push-and-pull connecting rods 12 are realized handgrip arm front end, plate 15 flexible connections are turned with the triangle that is fixed on the second secondary ball-type worm gear speed reducing transmission device 9 outer walls in the flat bottom of controlling pull bar 10 of the horizontal saliva of handgrip mouth, by the horizontal saliva of handgrip mouth, equal the level all the time that pull bar 10 is realized the handgrip mouth of controlling.
as improvement of the present utility model: described main ball-type worm gear speed reducing transmission device 6, comprise worm screw 601 and worm gear 602, a section of touching mutually of worm screw 601 and worm gear 602 is the radian section of cooperation 603, by the radian section of cooperation 603, can increase the transmission area of power, on the radian cooperation section 603 of worm screw 601, be provided with ball screw channel 604, in ball screw channel 604, be provided with the ball continuously arranged, that diameter is identical 605, the roll channel of the involutory formation ball 605 of teeth groove on ball screw channel 604 and worm gear 602, ball 605 1 edge roll channels roll, stirring worm gear 602 on one side rotates, helical teeth frictional drive by worm and wormwheel, become the rolling friction transmission, thereby reduced the frictional force in the transmission, at the clearing end of the ball screw channel 604 of worm screw 601, be provided with ball and fall hole 606 after rise, in in the radian cooperation section 603 of worm screw 601, being provided with, return pearl passage 607, ball falls hole 606 after rise and is connected with interior time pearl passage 607 by the excessive passage of radian, the oral area that falls hole 606 at ball after rise is provided with ball rollback gib block 608, when ball 605 is rolled to the terminal of ball screw channel 604, ball rollback gib block 608 stop with guiding function under, making ball 605 fall into smoothly ball falls after rise in hole 606, under the thrust that ball falls into continuously, in being rolled to, ball 605 returns the round end of pearl passage 607, initiating terminal at ball screw channel 604 is provided with the round hole 609 of ball, ball comes and goes hole 609 and is connected with the round end of interior time pearl passage 607 by the excessive passage of radian, simultaneously, it is corresponding with the both port of origination of ball screw channel 604 that ball comes and goes hole 609, the oral area that comes and goes hole 609 at ball is provided with ball importing screw channel gib block 610, when ball 605 rolls out in from ball toward anti-hole 609, under importing stopping of screw channel gib block 610 and guide, ball rolls into the initiating terminal of ball screw channel 604, thereby again along ball screw channel 604, roll, go round and begin again successively, radian worm screw 601 coordinates the outside of section 603 to be provided with ball protective sleeve 611, a side of ball protective sleeve 611 be provided with the protecting sheathing 616 of worm gear 602 fixing snap in mouthfuls 612, on the end wall of ball protective sleeve 611, be provided with worm screw mounting groove 613, while by ball protective sleeve 611, making ball 605 break away from the roll channel of the involutory formation ball 605 of teeth groove on ball screw channels 604 and worm gear 602, can not drop out, simultaneously, ball 605 being under sealing state moves, described worm gear 602 is ring-type, be sleeved on retainer ring 617, between the inwall of the outer wall of retainer ring 617 and worm gear 602, be provided with crossed roller bearing 618, retainer ring 617De center is axially extending bore 615, and retainer ring 617 is fixing with base plate 14 by set bolt 17, an end worm screw 601 also is provided with the motor shaft installing hole 614 that is connected with main deceleration motor 1.
Described ball screw channel 604 is provided with the 4-8 ring.
Described ball rollback gib block 608 is wrapped in the ball screw channel 604 on worm screw 601, one end is stiff end 608A, the other end is guide end 608B, and stiff end 608A inserts in the radial blind holes of worm screw 601, and guide end 608B gear falls the opening's edge rear side in hole 606 after rise at ball; The structure that described ball imports screw channel gib block 610 is identical with the structure of ball rollback gib block 608, opposite direction.
In described, returning pearl passage 607 rotates and processes by electric spark.
The structure of the described first secondary ball-type worm gear speed reducing transmission device 7 and the second secondary ball-type worm gear speed reducing transmission device 9 is identical with the structure of main ball-type worm gear speed reducing transmission device 6, and the plane, worm gear place of the plane, worm gear place of the first secondary ball-type worm gear speed reducing transmission device 7 and the second secondary ball-type worm gear speed reducing transmission device 9 is all vertical with the plane, worm gear place of main ball-type worm gear speed reducing transmission device 6; The Worm and Worm Gear Driving of its main ball-type worm gear speed reducing transmission device 6 is than being 1:80, and the Worm and Worm Gear Driving ratio of the secondary ball-type worm gear speed reducing transmission device 9 of the first secondary ball-type worm gear speed reducing transmission device 7 and second is 1:60.As everyone knows, worm gear and worm mechanism often are used to that two is shaft staggered, gearratio is large, transmission power is little or the intermittently used occasion, utilize Worm and Worm Gear Driving, can have advantages of that speed reducing ratio is large, smooth running, compact conformation; In addition, when the equivalent friction angle of the little what meshing wheel of the lead angle between cog of worm screw, mechanism has self-locking performance, can realize reverse self-locking, namely can only drive worm gear by worm screw rotates, and can not be rotated by the worm gear drives worm screw, its reverse self-locking can play the safeguard protection effect, and this characteristic makes joint drive greatly promote the job stability of robot; But common worm and gear is the tooth engaged transmission, and the relative sliding velocity of meshing wheel between cog is large, therefore frictional dissipation is large, efficiency is low; On the other hand, relative sliding velocity is large, makes that tooth surface abrasion is serious, heating is serious, in order to dispel the heat and to reduce wearing and tearing, often adopt antifriction quality that price is comparatively expensive and wear resistence material and good lubricating arrangement preferably, thereby cost is higher.For this reason, in the utility model, adopted the ball driving, made it have the excellent specific properties such as bearing capacity is large, transmission ratio is high, long service life, the ball on worm screw is arc to flank profil and distributes, and contact tooth can reach 4-6 tooth, stable drive, noiseless simultaneously.
Described transmission cable 13 passes in the axially extending bore 615 in the inner retainer ring 617 of worm gear of main ball-type worm gear speed reducing transmission device 6 and in the corresponding axially extending bore of the secondary ball-type worm gear speed reducing transmission device 9 of the first secondary ball-type worm gear speed reducing transmission device 7, second successively, like this, can prevent that transmission cable is exposed to the winding of outside, and easy to operate, make structure more attractive in appearance.
Fig. 8 has provided robot waist joint of the present utility model the application state side view has been installed.While using the utility model, the base plate of main ball-type worm gear speed reducing transmission device of the present utility model 6 bottom sides 14 is fixing with underframe 18, in the upper end of supported mechanical arm 5, install handgrip arm and handgrip level and control the rotation triangle, the upper end of connecting rod 12 is connected with the rear end of handgrip arm, the flat upper end of controlling pull bar 10 of the horizontal saliva of handgrip mouth is controlled the rear end of rotating triangle with the handgrip level and is connected, and can normally start use.
The utility model also can be according to the difference of joint part, by changing the deceleration joint of gearratio for other positions.
Claims (6)
1. robot ball-type worm gear reducer joint, comprise main deceleration motor (1), the first secondary deceleration motor (2), the second secondary deceleration motor (3), rolling disc (4) and supported mechanical arm (5) and transmission cable (13), the first secondary deceleration motor (2) and the second secondary deceleration motor (3) are fixedly mounted on rolling disc (4), it is characterized in that: the axle head of described main deceleration motor (1) connects upper main ball-type worm gear speed reducing transmission device (6), rolling disc (4) is by worm gear suitable for reading be fixedly connected with of connecting bolt (16) with main ball-type worm gear speed reducing transmission device (6), the axle head of the described second secondary deceleration motor (3) connects the upper second secondary ball-type worm gear speed reducing transmission device (9), and the inboard of the second secondary ball-type worm gear speed reducing transmission device (9) is rotated flange (8) and is fixedly connected with the bottom of supported mechanical arm (5), the axle head of the described first secondary deceleration motor (2) connects the upper first secondary ball-type worm gear speed reducing transmission device (7), and inboard " N " shape of the first secondary ball-type worm gear speed reducing transmission device (7) is turned handle (11) and is connected with the bottom of connecting rod (12) by bearing pin, plate (15) flexible connection is turned with the triangle that is fixed on the second secondary ball-type worm gear speed reducing transmission device (9) outer wall in the flat bottom of controlling pull bar (10) of the horizontal saliva of handgrip mouth.
2. robot ball-type worm gear reducer according to claim 1 joint, it is characterized in that: described main ball-type worm gear speed reducing transmission device (6), comprise worm screw (601) and worm gear (602), a section of touching mutually of worm screw (601) and worm gear (602) is the radian section of cooperation (603); On the radian cooperation section (603) of worm screw (601), be provided with ball screw channel (604), in ball screw channel (604), be provided with the ball continuously arranged, that diameter is identical (605), the roll channel of the involutory formation ball of teeth groove (605) on ball screw channel (604) and worm gear (602); At the clearing end of the ball screw channel (604) of worm screw (601), be provided with ball and fall hole (606) after rise, in in the radian cooperation section (603) of worm screw (601), being provided with, return pearl passage (607), ball falls hole (606) after rise and is connected with interior time pearl passage (607) by the excessive passage of radian, and the oral area that falls hole (606) at ball after rise is provided with ball rollback gib block (608); Initiating terminal at ball screw channel (604) is provided with the round hole (609) of ball, ball comes and goes hole (609) and is connected by on the excessive passage of radian and interior time pearl passage (607), returning end, simultaneously, it is corresponding with the both port of origination of ball screw channel (604) that ball comes and goes hole (609), and the oral area that comes and goes hole (609) at ball is provided with ball importing screw channel gib block (610); Radian worm screw (601) coordinates the outside of section (603) to be provided with ball protective sleeve (611), a side of ball protective sleeve (611) be provided with the protecting sheathing (616) of worm gear (602) fixing snap in mouthful (612), on the end wall of ball protective sleeve (611), be provided with worm screw mounting groove (613); Described worm gear (602) is ring-type, be sleeved on retainer ring (617), between the inwall of the outer wall of retainer ring (617) and worm gear (602), be provided with crossed roller bearing (618), the center of retainer ring (617) is axially extending bore (615), and retainer ring (617) is fixing by set bolt (17) and base plate (14); An end worm screw (601) also is provided with the motor shaft installing hole (614) that is connected with main deceleration motor (1).
3. robot ball-type worm gear reducer according to claim 2 joint is characterized in that: described ball screw channel (604) is provided with the 4-8 ring.
4. robot ball-type worm gear reducer according to claim 2 joint, it is characterized in that: described ball rollback gib block (608) is wrapped in the ball screw channel (604) on worm screw (601), one end is stiff end (608A), the other end is guide end (608B), stiff end (608A) inserts in the radial blind holes of worm screw (601), and guide end (608B) gear falls the opening's edge rear side in hole (606) after rise at ball; The structure that described ball imports screw channel gib block (610) is identical with the structure of ball rollback gib block (608), opposite direction.
5. robot ball-type worm gear reducer according to claim 1 joint, it is characterized in that: the structure of the described first secondary ball-type worm gear speed reducing transmission device (7) and the second secondary ball-type worm gear speed reducing transmission device (9) is identical with the structure of main ball-type worm gear speed reducing transmission device (6), and the plane, worm gear place of the plane, worm gear place of the first secondary ball-type worm gear speed reducing transmission device (7) and the second secondary ball-type worm gear speed reducing transmission device (9) is all vertical with the plane, worm gear place of main ball-type worm gear speed reducing transmission device (6); The Worm and Worm Gear Driving of its main ball-type worm gear speed reducing transmission device (6) is than being 1:80, and the Worm and Worm Gear Driving ratio of the first secondary ball-type worm gear speed reducing transmission device (7) and the second secondary ball-type worm gear speed reducing transmission device (9) is 1:60.
6. robot ball-type worm gear reducer according to claim 1 joint is characterized in that: described transmission cable (13) passes successively in the axially extending bore (615) in the inner retainer ring of worm gear (617) of main ball-type worm gear speed reducing transmission device (6) and the corresponding axially extending bore of the first secondary ball-type worm gear speed reducing transmission device (7), the second secondary ball-type worm gear speed reducing transmission device (9) in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202603610U CN203293210U (en) | 2013-05-14 | 2013-05-14 | Robot ball type worm gear speed reducing joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202603610U CN203293210U (en) | 2013-05-14 | 2013-05-14 | Robot ball type worm gear speed reducing joint |
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| Publication Number | Publication Date |
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| CN203293210U true CN203293210U (en) | 2013-11-20 |
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| CN2013202603610U Expired - Fee Related CN203293210U (en) | 2013-05-14 | 2013-05-14 | Robot ball type worm gear speed reducing joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116214492A (en) * | 2023-05-09 | 2023-06-06 | 瑞基机器人有限公司 | Robot body joint pose adjusting structure |
-
2013
- 2013-05-14 CN CN2013202603610U patent/CN203293210U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116214492A (en) * | 2023-05-09 | 2023-06-06 | 瑞基机器人有限公司 | Robot body joint pose adjusting structure |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20161214 Address after: 271100 Shandong city of Laiwu province Laiwu Economic Development Zone Zhangjiawa Street office Luming 67-3 North Road, building 1 Patentee after: Shandong precision automation equipment Co., Ltd. Address before: 271100 Shandong city of Laiwu Province Levin District the road No. 286 Patentee before: Laiwu Jingrui Mold Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20170514 |