CN204382295U - The large arm driving mechanism of robot - Google Patents

The large arm driving mechanism of robot Download PDF

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Publication number
CN204382295U
CN204382295U CN201420782431.3U CN201420782431U CN204382295U CN 204382295 U CN204382295 U CN 204382295U CN 201420782431 U CN201420782431 U CN 201420782431U CN 204382295 U CN204382295 U CN 204382295U
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CN
China
Prior art keywords
reductor
housing
arm
drive motors
robot
Prior art date
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Active
Application number
CN201420782431.3U
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Chinese (zh)
Inventor
张敏梁
周朔鹏
王师
陈宝生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Step Electric Corp
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Shanghai Step Electric Corp
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Publication date
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Priority to CN201420782431.3U priority Critical patent/CN204382295U/en
Application granted granted Critical
Publication of CN204382295U publication Critical patent/CN204382295U/en
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Abstract

The utility model discloses a kind of large arm driving mechanism of robot, comprise drive motors, gear-box and reductor.Drive motors and gear-box are all arranged in the cavity of large arm housing; Gear-box comprises casing and is arranged on input bevel gear and the output bevel gear wheel of the mutually orthogonal engagement in this casing; Casing is connected with the shell of drive motors and large arm housing respectively; The output shaft of drive motors and the power shaft of reductor stretch in gear housing, and bevel gear is connected with the output shaft of described drive motors in input, and output bevel gear wheel is connected with the power shaft of described reductor.The output flange of reductor is fixedly connected with the cavity inner wall of rotating seat, and the shell of reductor is connected with large arm housing.The utility model by the bevel gear of pairwise orthogonal engagement in gear-box, such that drive motors is vertical with reductor to be arranged, and substantially reduces the volume of robot, and simple installation, easy to maintenance.

Description

The large arm driving mechanism of robot
Technical field
The utility model relates to Industrial Robot Technology, particularly relates to the large arm driving mechanism of robot.
Background technology
Fig. 1 shows the schematic appearance of industrial robot.As shown in the figure, industrial robot comprise base 91, the rotating seat 92 be arranged on base 91, the large arm 93 be flexibly connected with rotating seat 92, the forearm 94 be flexibly connected with large arm 93 and the wrist 95 that is flexibly connected with forearm 94.
Existing large arm driving mechanism comprises drive motors and reductor, and motor and speed reducer is generally adopted and connected in two ways: one adopts motor and reductor direct connection, and to be motor with reductor be arranged in parallel another kind is connected by Timing Belt.There is following shortcoming in above-mentioned two kinds of connected modes: first kind of way, in order to reduce robot axial width, need customize motor and reductor interface size, thus increase production cost; Second way motor be arranged in parallel cause robot rotating seat oversize and the adjustment of Timing Belt tensile force not easily, bring difficulty to assembling, be also difficult to when second joint load is larger in addition adopt toothed belt transmission.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of compact conformation, low cost of manufacture, robot ' s arm driving mechanism easy to assembly.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is:
A large arm driving mechanism for robot, this robot comprises rotating seat and large arm, and described rotating seat and large arm include a housing, and rotating seat housing and large arm housing all have a cavity; The bottom of described large arm housing is stretched in the cavity of described rotating seat housing, and its feature is, this large arm driving mechanism comprises drive motors, gear-box and reductor; Drive motors and gear-box are all arranged in the cavity of large arm housing; Described reductor is arranged in the cavity of rotating seat housing, and the shell of this reductor is connected with the bottom of described large arm housing; Gear-box comprises casing and is arranged on input bevel gear and the output bevel gear wheel of the mutually orthogonal engagement in this casing; Casing is connected with the shell of drive motors and large arm housing respectively; The output shaft of drive motors and the power shaft of reductor stretch in the casing of gear-box, and bevel gear is connected with the output shaft of drive motors in input, and output bevel gear wheel is connected with the power shaft of reductor; The output flange of reductor is fixedly connected with the cavity inner wall of rotating seat housing.
The large arm driving mechanism of above-mentioned robot, wherein, the shell of reductor is connected with described large arm housing by bolt.
The large arm driving mechanism of above-mentioned robot, wherein, the output flange of reductor is connected by the cavity inner wall of bolt with rotating seat housing.
Because the utility model have employed above technical scheme, its technique effect produced is obvious:
1. adopting the mode of drive motors and the orthogonal layout of reductor, without the need to customizing reductor and motor, reducing manufacturing cost;
2, drive motors and gear-box are all arranged in the cavity of large arm housing by the utility model, greatly can reduce the transverse width of robot, make the structure of robot compacter;
3, drive motors and gear-box can be used as an integral module, make installation more convenient, improve reliability simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic appearance of existing industrial robot.
Fig. 2 shows the cross-sectional view of the large arm driving mechanism of the robot according to the utility model one embodiment.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Fig. 2 shows the large arm driving mechanism of a kind of robot according to the utility model one embodiment.In figure, the rotating seat 1 of robot comprises a housing 11, and large arm 2 comprises a housing 21, and the housing of rotating seat and the housing of large arm all have a cavity.The bottom of large arm housing 21 is stretched in the cavity 12 of rotating seat housing 11.This large arm driving mechanism comprises drive motors 3, gear-box 4 and reductor 5.
Drive motors 3 and gear-box 4 are all arranged in the cavity 22 of large arm housing 21.Reductor 5 is arranged in the cavity 12 of rotating seat housing, and the shell 51 of this reductor 5 is connected by the bottom of bolt with large arm housing 21.
Gear-box 4 comprises casing 41 and is arranged on input bevel gear 42 and the output bevel gear wheel 43 of the mutually orthogonal engagement in this casing.Casing 41 is connected with the shell 31 of drive motors 3 and large arm housing 21 respectively.The output shaft 32 of drive motors and the power shaft 52 of reductor stretch in the casing 41 of gear-box, and bevel gear 42 is connected with the output shaft 32 of drive motors in input, and output bevel gear wheel 43 is connected with the power shaft 52 of reductor.The output flange 53 of reductor is fixedly connected with by the cavity inner wall of bolt with rotating seat housing.
The course of work of this large arm driving mechanism is as follows: drive motors 3 rotates, the power shaft 52 of reductor is driven to rotate afterwards by the transmission of input bevel gear 42 and output bevel gear wheel 43, output flange 53 due to reductor is fixed on rotating seat 1, the shell 51 of reductor can rotate with the rotation of the power shaft 52 of reductor, thus drives large arm 2 to swing.
The utility model patent adopts the mode of drive motors and the orthogonal layout of reductor, drive motors and gear-box are all arranged in the cavity of large arm housing, greatly can reduce the transverse width of robot, make the structure of robot compacter, also reduce manufacturing cost simultaneously.

Claims (3)

1. a large arm driving mechanism for robot, this robot comprises rotating seat and large arm, and described rotating seat and large arm include a housing, and rotating seat housing and large arm housing all have a cavity; The bottom of described large arm housing is stretched in the cavity of described rotating seat housing, it is characterized in that, this large arm driving mechanism comprises drive motors, gear-box and reductor;
Described drive motors and gear-box are all arranged in the cavity of large arm housing; Described reductor is arranged in the cavity of rotating seat housing, and the shell of this reductor is connected with the bottom of described large arm housing;
Described gear-box comprises casing and is arranged on input bevel gear and the output bevel gear wheel of the mutually orthogonal engagement in this casing; Described casing is connected with the shell of drive motors and large arm housing respectively; The output shaft of described drive motors and the power shaft of described reductor stretch in the casing of gear-box, and described input bevel gear is connected with the output shaft of described drive motors, and described output bevel gear wheel is connected with the power shaft of described reductor; The output flange of described reductor is fixedly connected with the cavity inner wall of rotating seat housing.
2. the large arm driving mechanism of robot as claimed in claim 1, it is characterized in that, the shell of described reductor is connected with described large arm housing by bolt.
3. the large arm driving mechanism of robot as claimed in claim 1, it is characterized in that, the output flange of described reductor is connected by the cavity inner wall of bolt with rotating seat housing.
CN201420782431.3U 2014-12-12 2014-12-12 The large arm driving mechanism of robot Active CN204382295U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420782431.3U CN204382295U (en) 2014-12-12 2014-12-12 The large arm driving mechanism of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420782431.3U CN204382295U (en) 2014-12-12 2014-12-12 The large arm driving mechanism of robot

Publications (1)

Publication Number Publication Date
CN204382295U true CN204382295U (en) 2015-06-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420782431.3U Active CN204382295U (en) 2014-12-12 2014-12-12 The large arm driving mechanism of robot

Country Status (1)

Country Link
CN (1) CN204382295U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107263529A (en) * 2016-04-04 2017-10-20 发那科株式会社 Robot arm
CN107745393A (en) * 2017-10-15 2018-03-02 无锡市盛宝嘉科技有限公司 Plane joint manipulator for bearing ring forging and stamping loading and unloading

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107263529A (en) * 2016-04-04 2017-10-20 发那科株式会社 Robot arm
CN107745393A (en) * 2017-10-15 2018-03-02 无锡市盛宝嘉科技有限公司 Plane joint manipulator for bearing ring forging and stamping loading and unloading

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