CN203956913U - A kind of manipulator shaft mounting structure - Google Patents
A kind of manipulator shaft mounting structure Download PDFInfo
- Publication number
- CN203956913U CN203956913U CN201420363775.0U CN201420363775U CN203956913U CN 203956913 U CN203956913 U CN 203956913U CN 201420363775 U CN201420363775 U CN 201420363775U CN 203956913 U CN203956913 U CN 203956913U
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- China
- Prior art keywords
- axle
- bearing
- mounting structure
- shaft mounting
- input gears
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of manipulator shaft mounting structure, comprise the 4th axle, the 5th axle, the 6th axle and motor cabinet, the 4th axle sleeve is on the 5th axle, the 5th axle sleeve is on the 6th axle, the end of described the 6th axle is arranged with clutch shaft bearing, in described motor cabinet, be provided with for the installing hole of clutch shaft bearing is installed, installing hole is provided with the flexible member being clamped by the inwall of installing hole and clutch shaft bearing.Manipulator shaft mounting structure of the present utility model, by the end at the 6th axle arrange bearing by the end portion supports of the 6th axle on motor cabinet, the part of avoiding the 6th axle to insert in motor cabinet is cantilever design, can make gear on each axle make progress in week stressed evenly, thereby in the time of can avoiding axle rotation, gear produces different sound, improve the service life of gear, finally can improve the quality of product.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, and specifically, the utility model relates to a kind of manipulator shaft mounting structure.
Background technology
Industry 6 axle robot the 4th axles, the 5th axle and the 6th axle are generally all placed in same motor cabinet, and the gear drive of such 3 axles must be on same center line, and structural requirement is more compact better, and is independent of each other.The part that existing method for designing is inserted the 6th axle in motor cabinet is arranged to cantilever design, does not form an integral body between each shaft gear, and the 6th axle is positioned at gear that the end of motor cabinet arranges by round nut locking positioning.Although this structure compact conformation, due to the discontinuity that makes progress in the week at gear, and each gear is in cantilever position, during 3 axle interlock, easily produce the different sound of gear, even all can produce abnormal sound during single-shaft-rotation, affect the life-span of gear, affect the quality of product.
Utility model content
The utility model provides a kind of manipulator shaft mounting structure, and object is while avoiding axle rotation, to produce the different sound of gear.
To achieve these goals, the technical scheme that the utility model is taked is: a kind of manipulator shaft mounting structure, comprise the 4th axle, the 5th axle, the 6th axle and motor cabinet, the 4th axle sleeve is on the 5th axle, the 5th axle sleeve is on the 6th axle, the end of described the 6th axle is arranged with clutch shaft bearing, is provided with for the installing hole of clutch shaft bearing is installed in described motor cabinet, and installing hole is provided with the flexible member being clamped by the inwall of installing hole and clutch shaft bearing.
Described clutch shaft bearing is deep groove ball bearing.
Described flexible member is disk spring group.
Described disk spring group is formed by stacking by two disk springs.
The six axle input gears that to be arranged with the 6th axle on described the 6th axle be spline fitted, and six axle input gears are adjacent with described clutch shaft bearing.
The five axle input gears that to be arranged with the 5th axle on described the 5th axle be spline fitted, on described the 6th axle, be arranged with second bearing and three bearing adjacent with described six axle input gears, five axle input gears are sheathed on the second bearing, and the 5th axle sleeve is located on the 3rd bearing.
On described the 5th axle, be arranged with the 4th bearing, described the 4th axle sleeve is located on the 4th bearing.
On described the 4th axle, be arranged with the four axle input gears that are fixedly connected with the 4th axle.
On described the 5th axle, be arranged with for blocking the back-up ring of described the 4th bearing, back-up ring is positioned at the inside of described the 4th axle.
Manipulator shaft mounting structure is included in described the 4th axle sidepiece and is fixedly connected with the 4th axle and matches with described back-up ring and clamp the bearing gland of described the 4th bearing, on described five axle input gears, is arranged with the 5th bearing, and bearing gland is sheathed on the 5th bearing.
Manipulator shaft mounting structure of the present utility model, by the end at the 6th axle arrange bearing by the end portion supports of the 6th axle on motor cabinet, the part of avoiding the 6th axle to insert in motor cabinet is cantilever design, can make gear on each axle make progress in week stressed evenly, thereby in the time of can avoiding axle rotation, gear produces different sound, improve the service life of gear, finally can improve the quality of product.
Accompanying drawing explanation
This description comprises the following drawings, shown in content respectively:
Fig. 1 is the cutaway view of the utility model manipulator shaft mounting structure;
Fig. 2 is A place enlarged drawing in Fig. 1;
In figure, be labeled as:
1, motor cabinet; 2, the 4th axle; 3, four axle input gears; 4, the 5th axle; 5, five axle input gears; 6, back-up ring; 7, clutch shaft bearing; 8, the second bearing; 9, the 3rd bearing; 10, the 4th bearing; 11, the 5th bearing; 12, disk spring; 13, the 6th axle; 14, six axle input gears; 15, bearing gland; 16, installing hole.
The specific embodiment
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present utility model is described in further detail, and object is to help those skilled in the art to have more complete, accurate and deep understanding to design of the present utility model, technical scheme, and contributes to its enforcement.
As depicted in figs. 1 and 2, a kind of manipulator shaft mounting structure of the utility model, is the 4th axle 2, the 5th axle 4 and the 6th installation of axle 13 in motor cabinet 1 for industrial six-joint robot.This mounting structure comprises the 4th axle 2, the 5th axle 4, the 6th axle 13 and motor cabinet 1, in motor cabinet 1, be provided with for holding the cavity body of the 4th axle 2, the 5th axle 4 and the 6th axle 13, the 4th axle 2 is enclosed within on the 5th axle 4, the 4th axle 2 and the 5th axle 4 are diametrically and have a gap, the 5th axle 4 is enclosed within on the 6th axle 13, the 5th axle 4 and the 6th axle 13 have gap diametrically, and the 4th axle 2, the 5th axle 4 and the 6th axle 13 are also coaxial.In this mounting structure, the end in the cavity body of the insertion motor cabinet 1 of the 6th axle 13 is arranged with clutch shaft bearing 7, is provided with for the installing hole 16 of clutch shaft bearing 7 is installed in motor cabinet 1, and installing hole 16 is the circular hole coaxial with the 6th axle 13.By this clutch shaft bearing 7 is set, can the end of the 6th axle 13 be formed and be supported, thereby the part of avoiding the 6th axle 13 to insert in motor cabinet 1 is cantilever design, guarantee that the 6th axle 13 has enough rigidity, can make gear on each axle make progress in week stressed evenly, thereby in the time of can avoiding axle rotation, gear produces different sound, improves the service life of gear, finally can improve the quality of product.
In this mounting structure, at installing hole 16, be also provided with by the inwall of installing hole 16 and the flexible member of clutch shaft bearing 7 clampings.
Specifically, clutch shaft bearing 7 sheathed on the 6th axle 13 is deep groove ball bearing, clutch shaft bearing 7 and be provided with.Because the rotating speed of the 6th axle 13 is high, the axial end portion of the 6th axle 13 is mainly born radial load, and the 6th axle 13 bears axial load hardly, thus select deep groove ball bearing, and deep groove ball bearing compact conformation, lightweight.
On the 6th axle 13, be arranged with the 6th axle 13 as six axle input gear 14, six axle input gears 14 of spline fitted are provided with internal spline, correspondingly on the 6th axle 13, be provided with external splines.Six axle input gears 14 are the power that six axis drive motors for accepting to install on motor cabinet 1 pass over, and drive the 6th axle 13 synchronous rotaries.Six axle input gears 14 are adjacent with clutch shaft bearing 7, and clutch shaft bearing 7 is that flexible member is exerted pressure to clutch shaft bearing 7 between six axle input gears 14 and flexible member, promote clutch shaft bearing 7 and make it press to six axle input gears 14.And on the 6th axle 13, the diameter of axle corresponding to clutch shaft bearing 7 positions is less than six diameters of axle corresponding to axle input gear 14 positions, thereby near end position place, form a shaft shoulder on clutch shaft bearing 7.
As preferably, flexible member is disk spring group, and disk spring group adopts involutory mode to be formed by stacking by two disk springs 12, and disk spring group is coaxial with the 6th axle 13, its one end is against on the inwall of installing hole 16, and the other end is against on the side of outer ring of clutch shaft bearing 7.The disk spring group that two disk springs 12 form is exerted pressure to clutch shaft bearing 7, and clutch shaft bearing 7 is played to positioning action, and disk spring group takes up room littlely, is convenient to arrange.In addition, disk spring group is also for adjusting the end-play of this mounting structure.
As depicted in figs. 1 and 2, on the 5th axle 4, be arranged with one with the 5th axle 4 for five axle input gear 5, five axle input gears 5 of spline fitted are provided with internal spline, correspondingly on the 5th axle 4, be provided with external splines.Five axle input gears 5 are the power that five axis drive motors for accepting to install on motor cabinet 1 pass over, and drive the 5th axle 4 synchronous rotaries.On the 6th axle 13, be also arranged with second bearing 8 adjacent with six axle input gears 14 with the 3rd bearing 9, the second bearings 8, and six axle input gears 14 are to be clipped between clutch shaft bearing 7 and the second bearing 8.Between the 3rd bearing 9 and the second bearing 8, accompany an axle card, this axle card is to be set on the 6th axle 13.Five axle input gears 5 are sides that are positioned at six axles discrepancy gears, the large diameter portion of the axis hole of five axle input gears 5 is sheathed on the second bearing 8, thereby the second 8 pairs, bearing, five axle input gears 5 play location and supporting role, end in the cavity body of the 5th axle 4 insertion motor cabinets 1 is also sheathed on the 3rd bearing 9, thereby the 3rd bearing 9 forms and supports the end of the 5th axle 4.The size of the 3rd bearing 9 is less than the size of the second bearing 8, the second bearing 8 and the 3rd bearing 9 are to be positioned in the optical axis section of the same diameter of axle on the 6th axle 13, and the second bearing 8 and the 3rd diameter of axle corresponding to bearing 9 positions are greater than six diameters of axle corresponding to axle input gear 14 positions, thereby form a shaft shoulder at the second bearing 8 places.
As depicted in figs. 1 and 2, on the 5th axle 4, be also arranged with the 4th bearing 10, the four axles 2 and be sheathed on the 4th bearing 10.In the present embodiment, the 4th bearing 10 is provided with two altogether, and 10 pairs of the 4th axles 2 of two the 4th bearings form stable support.On the 4th axle 2, being also arranged with four axle input gear 3, four axle input gears 3 that are connected with the 4th axle 2 is the power that four axis drive motors for accepting to install on motor cabinet 1 pass over, and drives the 4th axle 2 synchronous rotaries.In the present embodiment, four axle input gears 3 are to be fixedly connected with the 4th axle 2 by screw.
As depicted in figs. 1 and 2, on the 5th axle 4, be also arranged with one for blocking the back-up ring 6 of the 4th bearing 10, this back-up ring 6 is to be fixed in the groove arranging on the outer surface of the 5th axle 4, this back-up ring 6 is also positioned at the inside of the 4th axle 2,6 pairs of the 4th bearings 10 of back-up ring play position-limiting action, and two the 4th bearings 10 are between back-up ring 6 and five axle input gears 5.
As depicted in figs. 1 and 2, this mounting structure is also included in the bearing gland 15 that the 4th axle 2 sidepieces are connected with the 4th axle 2, bearing gland 15 is provided with centre bore, bearing gland 15 is between the 4th axle 2 and five axle input gears 5, and bearing gland 15 is for matching with back-up ring 6, to clamp two the 4th bearings 10.On five axle input gears 5, be arranged with the 5th bearing 11, bearing gland 15 is also sheathed on the 4th bearing 10 and the 5th bearing 11, and the aperture on the corresponding bearing gland 15 of the 5th bearing 11 is greater than the aperture on the corresponding bearing gland 15 of the 4th bearing 10, thereby makes the 5th bearing 11 play positioning action.In the present embodiment, bearing gland 15 is to be fixedly connected with the 4th axle 2 by screw.
The mounting structure of said structure, can make the 4th axle 2, the 5th axle 4 and the 6th axle 13 link together, all linked with one another, the circumferential movement that location is independent of each other again separately mutually, and its end-play relies on butterfly spring group elasticity to adjust.When bearing and gear temperature rise, can discharge end play by butterfly spring group, avoid the harmful effect that brought to this structure by temperature rise, improve the quality of products.
The mounting structure of said structure, structural rigidity is good, and in the satisfactory situation of all parts, noise can be able to guarantee below 70dB (GB regulation is below 80dB).
Below by reference to the accompanying drawings the utility model is exemplarily described.Obviously, the utility model specific implementation is not subject to the restrictions described above.So long as adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out; Or without improvement, above-mentioned design of the present utility model and technical scheme are directly applied to other occasion, all within protection domain of the present utility model.
Claims (10)
1. a manipulator shaft mounting structure, comprise the 4th axle, the 5th axle, the 6th axle and motor cabinet, the 4th axle sleeve is on the 5th axle, the 5th axle sleeve is on the 6th axle, it is characterized in that: the end of described the 6th axle is arranged with clutch shaft bearing, in described motor cabinet, be provided with for the installing hole of clutch shaft bearing is installed, installing hole is provided with the flexible member being clamped by the inwall of installing hole and clutch shaft bearing.
2. manipulator shaft mounting structure according to claim 1, is characterized in that: described clutch shaft bearing is deep groove ball bearing.
3. manipulator shaft mounting structure according to claim 1 and 2, is characterized in that: described flexible member is disk spring group.
4. manipulator shaft mounting structure according to claim 3, is characterized in that: described disk spring group is formed by stacking by two disk springs.
5. manipulator shaft mounting structure according to claim 4, is characterized in that: the six axle input gears that to be arranged with the 6th axle on described the 6th axle be spline fitted, and six axle input gears are adjacent with described clutch shaft bearing.
6. manipulator shaft mounting structure according to claim 5, it is characterized in that: the five axle input gears that to be arranged with the 5th axle on described the 5th axle be spline fitted, on described the 6th axle, be arranged with second bearing and three bearing adjacent with described six axle input gears, five axle input gears are sheathed on the second bearing, and the 5th axle is also sheathed on the 3rd bearing.
7. manipulator shaft mounting structure according to claim 6, is characterized in that: on described the 5th axle, be arranged with the 4th bearing, described the 4th axle sleeve is located on the 4th bearing.
8. manipulator shaft mounting structure according to claim 7, is characterized in that: on described the 4th axle, be arranged with the four axle input gears that are fixedly connected with the 4th axle.
9. manipulator shaft mounting structure according to claim 8, is characterized in that: on described the 5th axle, be arranged with for blocking the back-up ring of described the 4th bearing, back-up ring is positioned at the inside of described the 4th axle.
10. manipulator shaft mounting structure according to claim 9, it is characterized in that: be included in described the 4th axle sidepiece and be fixedly connected with the 4th axle and match with described back-up ring and clamp the bearing gland of described the 4th bearing, on described five axle input gears, be arranged with the 5th bearing, bearing gland is also sheathed on the 5th bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420363775.0U CN203956913U (en) | 2014-07-02 | 2014-07-02 | A kind of manipulator shaft mounting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420363775.0U CN203956913U (en) | 2014-07-02 | 2014-07-02 | A kind of manipulator shaft mounting structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203956913U true CN203956913U (en) | 2014-11-26 |
Family
ID=51917548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420363775.0U Withdrawn - After Issue CN203956913U (en) | 2014-07-02 | 2014-07-02 | A kind of manipulator shaft mounting structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203956913U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070521A (en) * | 2014-07-02 | 2014-10-01 | 安徽埃夫特智能装备有限公司 | Robot shaft installation structure |
-
2014
- 2014-07-02 CN CN201420363775.0U patent/CN203956913U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070521A (en) * | 2014-07-02 | 2014-10-01 | 安徽埃夫特智能装备有限公司 | Robot shaft installation structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141126 Effective date of abandoning: 20150930 |
|
| RGAV | Abandon patent right to avoid regrant |