CN203945372U - The rotary seal structure in a kind of robot hollow joint - Google Patents
The rotary seal structure in a kind of robot hollow joint Download PDFInfo
- Publication number
- CN203945372U CN203945372U CN201420156304.2U CN201420156304U CN203945372U CN 203945372 U CN203945372 U CN 203945372U CN 201420156304 U CN201420156304 U CN 201420156304U CN 203945372 U CN203945372 U CN 203945372U
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- Prior art keywords
- motor
- robot
- seal structure
- rotary seal
- input gear
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- Expired - Lifetime
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- 238000007789 sealing Methods 0.000 claims abstract description 21
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 6
- 230000003068 static effect Effects 0.000 claims description 5
- 239000000314 lubricant Substances 0.000 abstract description 6
- 239000010705 motor oil Substances 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 6
- 238000005461 lubrication Methods 0.000 description 6
- 102000008579 Transposases Human genes 0.000 description 5
- 108010020764 Transposases Proteins 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- General Details Of Gearings (AREA)
Abstract
The utility model discloses the rotary seal structure in a kind of robot hollow joint, comprise motor and input gear, on the motor shaft of motor, overlap input gear the axial restraint of sabot class formation, the rotating seal ring of input gear is arranged on motor transitional flange and by rotatory sealing circlip axial restraint, motor matches with the seam of motor transitional flange, motor transitional flange matches with the seam on support, motor, motor transitional flange, support three be bolted connection together, the reductor that input gear and the support other end are installed forms the gear drive of reductor one-level.The utility model has solved the lubricant sealing problem of joint of robot well, and at joint of robot, during in any attitude, lubricant can not flow in electric engine oil seal, can not leak into outside body yet.
Description
Technical field
The utility model relates to a kind of mechanically operated lubrication sealing structure, is particularly useful for the rotatory sealing of industrial robot hollow joint transmission, belongs to mechanically operated lubrication and seal technical field.
Background technology
In joint of robot transmission mechanism, except speed reducer drive, a kind of reductor input transmission of gear drive Chang Zuowei or one-level transmission, the advantages such as it has, and carry-over moment is large, life-span length, but indispensable needs are lubricated and sealing.Well lubricated can reduce the secondary frictional resistance of gear movement, reduces noise, guarantees the efficient running for a long time of mechanism.The thing followed is exactly relevant gear-driven lubrication and seal problem.
Joint of robot reductor generally carries output rotatory sealing, and other lubrication and seals relevant to reductor are static seal, all relatively good solution.Yet for gear drive, be no matter as reductor input transmission or one-level transmission, its lubrication and seal problem all must solve, otherwise lubricant pours in down a chimney in electric engine oil seal and probably causes band-type brake to lose efficacy.There are at present a lot of joint of robot well not address this problem, just rely on gravitational effect to stop lubricant to enter in electric engine oil seal, cause joint of robot can not to be inverted or to tilt in running.
For the hollow joint of conventional structure, if first installed and axial-rotation sealing, the gear that coils class formation cannot insert; If gear is first installed, rotatory sealing cannot be installed.
Utility model content
The gear drive lubrication and seal problem that the utility model is mentioned for background technology, the purpose of this utility model is the rotary seal structure that proposes a kind of robot hollow joint, can realize sealing, is easy to again processing and assembling.
The technical solution of the utility model is:
The rotary seal structure in a kind of robot hollow joint, comprise motor and input gear, it is characterized in that: the input gear the axial restraint that on the motor shaft of motor, overlap sabot class formation, the rotating seal ring of input gear is arranged on motor transitional flange and by rotatory sealing circlip axial restraint, motor matches with the seam of motor transitional flange, motor transitional flange matches with the seam on support, motor, motor transitional flange, support three be bolted connection together, the reductor that input gear and the support other end are installed forms the gear drive of reductor one-level.
Optimal technical scheme, motor matches with the seam of motor transitional flange and at the edge of this tongue and groove, is provided with the motor transitional flange O type circle of realizing static seal.
It is example that the utility model be take the vertical articulated robot of six degree of freedom, the vertical articulated robot of six degree of freedom has adopted the rotary seal structure in above-mentioned robot hollow joint, and the rotary seal structure in above-mentioned robot hollow joint is arranged on the axle hollow joint in the swivel base assembly in the vertical articulated robot of six degree of freedom.
It is example that the utility model be take the vertical articulated robot of six degree of freedom, the vertical articulated robot of six degree of freedom has adopted the rotary seal structure in above-mentioned robot hollow joint, and the rotary seal structure in above-mentioned robot hollow joint is arranged on four axle hollow joints in the motor cabinet assembly in the vertical articulated robot of six degree of freedom.
Useful technique effect of the present utility model is:
The rotary seal structure in robot hollow joint adopts a kind of independent motor transitional flange arrangement, make the installation of rotatory sealing of motor input gear very convenient, and the mode realizing is uncomplicated.The utility model has solved the lubricant sealing problem of joint of robot well, and at joint of robot, during in any attitude, lubricant can not flow in electric engine oil seal, can not leak into outside body yet.The utility model structure is uncomplicated, mounts and dismounts all easily, is a kind of rotary seal structure with practical value.
Accompanying drawing explanation
Fig. 1 is the structural representation of the vertical articulated robot of six degree of freedom.
Fig. 2 is the rotary seal structure of an axle hollow joint of the vertical articulated robot swivel base of six degree of freedom assembly.
Fig. 3 is the rotary seal structure of four axle hollow joints of the vertical articulated robot motor cabinet of six degree of freedom assembly.
Number in the figure: I-base assembly, II-swivel base assembly, III-large arm assembly, IV-motor cabinet assembly, V-little arm assembly, VI-wrist assembly; 1-swivel base, 2-mono-axle reductor, 3-mono-spindle motor counter flange, 4-mono-spindle motor, 5-mono-axle input gear, 6-mono-axle rotating seal ring, 7-mono-axle rotatory sealing circlip, 8-mono-spindle motor counter flange O type circle; 16-motor cabinet, 17-tetra-axle reductors, 18-tetra-spindle motor counter flanges, 19-tetra-spindle motors, 20-tetra-axle input gears, 21-tetra-axle rotating seal rings, 22-tetra-axle rotatory sealing circlips, 23-tetra-spindle motor counter flange O type circles.
The realization of the utility model object, functional characteristics and advantage, in connection with embodiment, are described further with reference to accompanying drawing.
The specific embodiment
Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figure 1, the vertical articulated robot of six degree of freedom comprises base assembly I, swivel base assembly II, large arm assembly III ,-motor cabinet assembly IV, forearm assembly V and wrist assembly VI; Swivel base assembly II in the vertical articulated robot of six degree of freedom and motor cabinet assembly IV have all adopted hollow joint that the utility model relates to and the rotary seal structure in non-hollow joint.
As shown in Figure 2, rotary seal structure for the axle hollow joint in swivel base assembly II is as follows: axle input gear 5 axial restraint that overlaps sabot class formation on the motor shaft of a spindle motor 4, one axle rotating seal ring 6 of one axle input gear 5 is arranged on a spindle motor counter flange 3 and by rotatory sealing circlip 7 axial restraints, one spindle motor 4 matches with the seam of a spindle motor counter flange 3, one spindle motor counter flange 3 matches and at this seam edge, is provided with a spindle motor counter flange O type circle 8 of realizing static seal with the seam on transposase 11 (being equal to support), one spindle motor 4, one spindle motor counter flange 3, transposase 11 (being equal to support) three is bolted connection together, one axle input gear 5 forms the gear drive of reductor one-level with the axle reductor 2 that transposase 11 (the being equal to support) other end is installed.
Rotary seal structure for the axle hollow joint in swivel base assembly II is implemented as follows:
Pack an axle rotating seal ring 6 into a spindle motor counter flange 3 also with axle rotatory sealing circlip 7 axial restraints, one spindle motor 4 and a spindle motor counter flange 3 are combined together by seam, from the other end of a spindle motor counter flange 3, load onto axle input gear 5 axial restraint to a spindle motor 4, at the seam edge of transposase 11, load onto a spindle motor counter flange O type circle 8, one spindle motor counter flange 3 be arranged on together with a spindle motor 4 on the seam of transposase 11 and be bolted, the central gear of one axle input gear 5 and an axle reductor 2 forms one-level gear drive, so just realized the rotatory sealing of an axle input gear 5.
As shown in Figure 3, for motor cabinet assembly IV, the rotary seal structure in four axle hollow joints is as follows:
On the motor shaft of four spindle motors 19, overlap four axle input gear 20 axial restraints of sabot class formation, four axle rotating seal rings 21 of four axle input gears 20 are arranged on four spindle motor counter flanges 18 and by rotatory sealing circlip 22 axial restraints, four spindle motors 19 match with the seam of four spindle motor counter flanges 18, four spindle motor counter flanges 18 match and at this seam edge, are provided with the four spindle motor counter flange O type circles 23 of realizing static seal with the seam on motor cabinet 16 (being equal to support), four spindle motors 19, four spindle motor counter flanges 18, motor cabinet 16 (being equal to support) three is bolted connection together, four axle input gears 20 form the gear drive of reductor one-level with the four axle reductors 17 that motor cabinet 16 (the being equal to support) other end is installed.
For motor cabinet assembly IV, the rotary seal structure in four axle hollow joints is implemented as follows:
Pack four axle rotating seal rings 21 into four spindle motor counter flanges 18 also with four axle rotatory sealing circlip 22 axial restraints, four spindle motors 19 and four spindle motor counter flanges 18 are combined together by seam, from the other end of four spindle motor counter flanges 18, load onto four axle input gear 20 axial restraints to four spindle motors 19, at the stop portion of four spindle motor counter flanges 18, load onto four spindle motor counter flange O type circles 23, four spindle motor counter flanges 18 be arranged on together with four spindle motors 19 on the seam of motor cabinet 16 and be bolted, the central gear of four axle input gears 20 and four axle reductors 17 forms one-level gear drive, so just realized the rotatory sealing of four axle input gears 20.
The foregoing is only preferred embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure transformation that utilizes the utility model description to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (4)
- The rotary seal structure in 1.Yi Zhong robot hollow joint, comprise motor and input gear, it is characterized in that: the input gear the axial restraint that on the motor shaft of motor, overlap sabot class formation, the rotating seal ring of input gear is arranged on motor transitional flange and by rotatory sealing circlip axial restraint, motor matches with the seam of motor transitional flange, motor transitional flange matches with the seam on support, motor, motor transitional flange, support three be bolted connection together, the reductor that input gear and the support other end are installed forms the gear drive of reductor one-level.
- 2. the rotary seal structure in robot hollow according to claim 1 joint, is characterized in that, motor matches with the seam of motor transitional flange and at the edge of this tongue and groove, is provided with the motor transitional flange O type circle of realizing static seal.
- 3. the vertical articulated robot of six degree of freedom, it is characterized in that: comprise the rotary seal structure in the robot hollow joint described in arbitrary claim in claim 1 to 2, the rotary seal structure in above-mentioned robot hollow joint is arranged on the axle hollow joint in the swivel base assembly in the vertical articulated robot of six degree of freedom.
- 4. the vertical articulated robot of six degree of freedom, it is characterized in that: comprise the rotary seal structure in the robot hollow joint described in arbitrary claim in claim 1 to 2, the rotary seal structure in above-mentioned robot hollow joint is arranged on four axle hollow joints in the motor cabinet assembly in the vertical articulated robot of six degree of freedom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420156304.2U CN203945372U (en) | 2014-04-02 | 2014-04-02 | The rotary seal structure in a kind of robot hollow joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420156304.2U CN203945372U (en) | 2014-04-02 | 2014-04-02 | The rotary seal structure in a kind of robot hollow joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203945372U true CN203945372U (en) | 2014-11-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420156304.2U Expired - Lifetime CN203945372U (en) | 2014-04-02 | 2014-04-02 | The rotary seal structure in a kind of robot hollow joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203945372U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956246A (en) * | 2017-04-28 | 2017-07-18 | 广西壮族自治区机械工业研究院 | Multi-joint industrial robot's waist mechanism |
| CN106989176A (en) * | 2017-05-03 | 2017-07-28 | 埃夫特智能装备股份有限公司 | A kind of robot flip side assembling device |
| CN107984492A (en) * | 2017-12-09 | 2018-05-04 | 柳州通亿汽车配件制造有限公司 | A kind of higher joint of robot device of fluency |
| CN108582163A (en) * | 2018-06-26 | 2018-09-28 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
| CN111975760A (en) * | 2020-07-31 | 2020-11-24 | 西安航天精密机电研究所 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
-
2014
- 2014-04-02 CN CN201420156304.2U patent/CN203945372U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956246A (en) * | 2017-04-28 | 2017-07-18 | 广西壮族自治区机械工业研究院 | Multi-joint industrial robot's waist mechanism |
| CN106989176A (en) * | 2017-05-03 | 2017-07-28 | 埃夫特智能装备股份有限公司 | A kind of robot flip side assembling device |
| CN107984492A (en) * | 2017-12-09 | 2018-05-04 | 柳州通亿汽车配件制造有限公司 | A kind of higher joint of robot device of fluency |
| CN108582163A (en) * | 2018-06-26 | 2018-09-28 | 埃夫特智能装备股份有限公司 | A kind of robot turning-stand structure for electric based on dust-proof moisture-proof sealing |
| CN111975760A (en) * | 2020-07-31 | 2020-11-24 | 西安航天精密机电研究所 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
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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 | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141119 |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Deng Xiujuan Document name: Notice of Termination of Patent Rights |