CN204604353U - A kind of robot hollow reducer harmonic oscillator mounting structure - Google Patents
A kind of robot hollow reducer harmonic oscillator mounting structure Download PDFInfo
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- CN204604353U CN204604353U CN201520082310.2U CN201520082310U CN204604353U CN 204604353 U CN204604353 U CN 204604353U CN 201520082310 U CN201520082310 U CN 201520082310U CN 204604353 U CN204604353 U CN 204604353U
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- penetration pipe
- mounting structure
- hollow reducer
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Abstract
The utility model relates to joint of robot mounting structure field, disclose a kind of robot hollow reducer harmonic oscillator mounting structure, comprise penetration pipe and joint foundry goods, one end of penetration pipe is arranged in the cavity of joint cast-internal also fixing, and the outside that the other end of penetration pipe reaches joint foundry goods through joint foundry goods forms installation portion; Wave producer adopts is inverted the outside that the mode of installing is sleeved on the installation portion of penetration pipe, and wave producer matches with hollow reducer; The end of wave producer is provided with spur gear, and spur gear matches with motor.Mounting structure in the application, when not affecting gearratio, effectively make use of the space in next joint adjacent with foundry goods joint, effectively reduces the size in foundry goods joint.The structure of the inverted structure in the application is simple, processing is convenient, production cost is low; Owing to being arranged at by part-structure in next joint adjacent with foundry goods joint, the size in foundry goods joint is reduced, and external appearance is better.
Description
Technical field
The utility model relates to joint of robot mounting structure field, discloses a kind of robot hollow reducer harmonic oscillator mounting structure more specifically.
Background technology
In prior art, when carrying out Design and manufacturing process to joint of robot, in order to ensure the compactedness of robot joint structure, hollow reducer harmonic oscillator in joint of robot adopts positive assembling structure to install mostly, is all arranged on each intra articular of robot by the equipment such as motor, reductor.Concrete structure is, penetration pipe carries out injection from reductor right-hand member, and wave producer adopts positive assembling structure, and now, the end of penetration pipe is positioned at the inside of joint foundry goods; Meanwhile, the gear shaft that the spur gear installed with penetration pipe end is connected and motor are all installed in the foundry goods of joint.Although adopt above-mentioned positive assembling structure to be conducive to the maintenance and management of equipment, but virtually adding the overall dimensions in joint of robot, not only affect the overall aesthetics of robot, and inconvenience carries out processing to it, also improve the financial cost in robot production process simultaneously.On the other hand, owing to adopting formal dress structure to cause the structure comparison of the intra articular of robot compact, high requirement is proposed to the design that the circuit of joint of robot inside walks, adds the difficulty of Production design.
Therefore, market is needed one badly and is different from robot of the prior art hollow reducer harmonic oscillator mounting structure, can make that the articulation structure of robot is more simple, processing is more convenient, aesthetic property is better and production cost is lower.
Utility model content
The purpose of this utility model is, a kind of robot hollow reducer harmonic oscillator mounting structure is proposed, so that the joint position partial structurtes that the joint position place solving robot in prior art adopts hollow reducer harmonic oscillator formal dress structure to cause are too compact, cosmetic look is poor, production cost is high, manufacturing processing technic is complicated, and the problem of intra articular cabling difficulty
For reaching this object, the utility model by the following technical solutions:
A kind of robot hollow reducer harmonic oscillator mounting structure, comprise penetration pipe and joint foundry goods, one end of described penetration pipe is arranged in the cavity of described joint cast-internal also fixing, and the outside that the other end of described penetration pipe reaches described joint foundry goods through described joint foundry goods forms installation portion; Wave producer adopts is inverted the outside that the mode of installing is sleeved on the installation portion of described penetration pipe, and described wave producer matches with hollow reducer; The end of described wave producer is provided with spur gear, and described spur gear matches with motor.
Further, the outer cover of described wave producer is equipped with adpting flange, and described adpting flange and the firm wheel be arranged in described hollow reducer are fixed together.
Further, the flexbile gear and the described joint foundry goods that are arranged in described hollow reducer are fixed together.
Further, the drive end of described motor is provided with gear shaft, and described gear shaft is arranged in described adpting flange, and described gear shaft is meshed with described spur gear.
Further, bearing is provided with between described adpting flange and wave producer; Sealing ring is provided with between described adpting flange and the installation portion of penetration pipe.
Further, described wave producer is sleeved on the outside of the installation portion of described penetration pipe by installing rack and the locating surface being arranged at described penetration pipe outer surface; Bearing is provided with between described installing rack and wave producer.
Further, described penetration pipe is arranged between one end in the foundry goods of described joint and described installing rack and is disposed with bearing and sealing ring.
Further, described motor and gear shaft are arranged in next joint be connected with described joint foundry goods.
The beneficial effects of the utility model are: the mounting structure in the application, when not affecting gearratio, effectively make use of the space in next joint adjacent with foundry goods joint, effectively reduces the size in foundry goods joint.The structure of the inverted structure in the application is simple, processing is convenient, production cost is low; Owing to being arranged at by part-structure in next joint adjacent with foundry goods joint, the size in foundry goods joint is reduced, and external appearance is better.In addition, owing to penetration pipe to be arranged on the outside in foundry goods joint, to carry out wiring provide enough spatial margin for follow-up, make wiring process convenient.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the mounting structure of the robot hollow reducer harmonic oscillator that the utility model detailed description of the invention proposes.
In figure:
1, motor; 2, gear shaft; 3, spur gear; 4, wave producer; 5, adpting flange; 6, hollow reducer; 7, joint foundry goods; 8, the first sealing ring; 9, penetration pipe; 10, clutch shaft bearing; 11, the second sealing ring; 12, the second bearing; 13, the 3rd bearing.
Detailed description of the invention
The technical solution of the utility model is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1, be a kind of robot hollow reducer harmonic oscillator mounting structure that the present embodiment proposes, comprise penetration pipe 9 and joint foundry goods 7, joint foundry goods 7 offers the installing hole for passing for penetration pipe 9.One end of penetration pipe 9 is arranged in the cavity of joint foundry goods 7 inside also fixing, and the outside that the other end of penetration pipe 9 reaches joint foundry goods 7 through joint foundry goods 7 forms installation portion.Wherein, one end that penetration pipe 9 is arranged in joint foundry goods 7 has the installing plate extended to surrounding, and penetration pipe 9 is fixed on joint foundry goods 7 by installing plate, preferably, selects sunk screw or dormant bolt to be fixed installing plate.
The installation portion being positioned at joint foundry goods 7 outside at penetration pipe 9 is provided with wave producer 4, and wave producer 4 adopts is inverted the outside that the mode of installing is sleeved on the installation portion of penetration pipe 9.As one embodiment more specifically, penetration pipe 9 has the locating surface for positioning near one end of installing plate, and wave producer 4 is sleeved on the outside of the installation portion of penetration pipe 9 by installing rack and locating surface.In order to ensure the reliability in wave producer 4 use procedure, the second bearing 12 is installed between installing rack and wave producer 4.Penetration pipe 9 is arranged between one end in joint foundry goods 7 and installing rack and is disposed with clutch shaft bearing 10 and the second sealing ring 11.Wherein the left side of clutch shaft bearing 10 is close on the side of the installing plate of penetration pipe 9, and the penetration pipe 9 on the right side of clutch shaft bearing 10 is provided with a step surface from top to bottom, and one end of the second sealing ring 11 is resisted against on step surface and positions.
As further embodiment, wave producer 4 matches with hollow reducer 6, and the end of wave producer 4 is provided with spur gear 3, and spur gear 3 matches with motor 1.The drive end of motor 1 is provided with gear shaft 2, and gear shaft 2 is arranged in adpting flange 5, and gear shaft 2 is meshed with spur gear 3, preferably, is fixed together between spur gear 3 and wave producer 4 by sunk screw or dormant bolt.In order to ensure outside aesthetic property, motor 1 and gear shaft 2 are arranged in next joint be connected with joint foundry goods 7.
Have flexbile gear in hollow reducer 6 and just taken turns, flexbile gear and joint foundry goods 7 are fixed together, and are fixed preferably through screw.The outer cover of wave producer 4 is equipped with adpting flange 5, and adpting flange 5 is fixed together with firm wheel, is also fixed together by screw or bolt.
In order to ensure can to ensure relative motion between adpting flange 5 with wave producer 4, between adpting flange 5 and wave producer 4, being provided with the 3rd bearing 13, between the installation portion of adpting flange 5 and penetration pipe 9, being provided with the first sealing ring 8.
Mounting structure in the application, when not affecting gearratio, effectively make use of the space in next joint adjacent with foundry goods joint, effectively reduces the size in foundry goods joint.The structure of the inverted structure in the application is simple, processing is convenient, production cost is low; Owing to being arranged at by part-structure in next joint adjacent with foundry goods joint, the size in foundry goods joint is reduced, and external appearance is better.In addition, owing to penetration pipe to be arranged on the outside in foundry goods joint, to carry out wiring provide enough spatial margin for follow-up, make wiring process convenient.
Below describe know-why of the present utility model in conjunction with specific embodiments, these describe just in order to explain principle of the present utility model, can not be interpreted as the restriction to the utility model protection domain by any way.Based on explaining herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present utility model, and these modes all will fall within protection domain of the present utility model.
Claims (8)
1. a robot hollow reducer harmonic oscillator mounting structure, comprise penetration pipe (9) and joint foundry goods (7), it is characterized in that: one end of described penetration pipe (9) is arranged in the inner cavity in described joint foundry goods (7) also fixing, the outside that the other end of described penetration pipe (9) reaches described joint foundry goods (7) through described joint foundry goods (7) forms installation portion;
Wave producer (4) adopts is inverted the outside that the mode of installing is sleeved on the installation portion of described penetration pipe (9), and described wave producer (4) matches with hollow reducer (6);
The end of described wave producer (4) is provided with spur gear (3), and described spur gear (3) matches with motor (1).
2. robot according to claim 1 hollow reducer harmonic oscillator mounting structure, it is characterized in that: the outer cover of described wave producer (4) is equipped with adpting flange (5), described adpting flange (5) and the firm wheel be arranged in described hollow reducer (6) are fixed together.
3. robot according to claim 2 hollow reducer harmonic oscillator mounting structure, is characterized in that: the flexbile gear and described joint foundry goods (7) that are arranged in described hollow reducer (6) are fixed together.
4. robot according to claim 3 hollow reducer harmonic oscillator mounting structure, it is characterized in that: the drive end of described motor (1) is provided with gear shaft (2), described gear shaft (2) is arranged in described adpting flange (5), and described gear shaft (2) is meshed with described spur gear (3).
5. robot according to claim 4 hollow reducer harmonic oscillator mounting structure, is characterized in that: be provided with bearing between described adpting flange (5) and wave producer (4);
Sealing ring is provided with between the installation portion of described adpting flange (5) and penetration pipe (9).
6. robot according to claim 5 hollow reducer harmonic oscillator mounting structure, is characterized in that: described wave producer (4) is sleeved on the outside of the installation portion of described penetration pipe (9) by installing rack and the locating surface being arranged at described penetration pipe (9) outer surface;
Bearing is provided with between described installing rack and wave producer (4).
7. robot according to claim 6 hollow reducer harmonic oscillator mounting structure, is characterized in that: described penetration pipe (9) is arranged between one end in described joint foundry goods (7) and described installing rack and is disposed with bearing and sealing ring.
8. robot according to claim 7 hollow reducer harmonic oscillator mounting structure, is characterized in that: described motor (1) and gear shaft (2) are arranged in next joint be connected with described joint foundry goods (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520082310.2U CN204604353U (en) | 2015-02-05 | 2015-02-05 | A kind of robot hollow reducer harmonic oscillator mounting structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520082310.2U CN204604353U (en) | 2015-02-05 | 2015-02-05 | A kind of robot hollow reducer harmonic oscillator mounting structure |
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| CN204604353U true CN204604353U (en) | 2015-09-02 |
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| CN201520082310.2U Active CN204604353U (en) | 2015-02-05 | 2015-02-05 | A kind of robot hollow reducer harmonic oscillator mounting structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| CN113815014A (en) * | 2021-10-19 | 2021-12-21 | 珠海格力智能装备有限公司 | Joint device and robot |
| CN114227664A (en) * | 2021-12-31 | 2022-03-25 | 中铭谷智能机器人(广东)有限公司 | Novel transmission device and transmission method for cooperative robot |
-
2015
- 2015-02-05 CN CN201520082310.2U patent/CN204604353U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| CN104608144B (en) * | 2015-02-05 | 2017-02-22 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| CN113815014A (en) * | 2021-10-19 | 2021-12-21 | 珠海格力智能装备有限公司 | Joint device and robot |
| CN113815014B (en) * | 2021-10-19 | 2023-09-15 | 珠海格力智能装备有限公司 | Joint device and robot |
| CN114227664A (en) * | 2021-12-31 | 2022-03-25 | 中铭谷智能机器人(广东)有限公司 | Novel transmission device and transmission method for cooperative robot |
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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: 20151211 Address after: 519070 Jinji West Road, Qianshan, Zhuhai City, Guangdong Province Gree Electric Appliances Inc. of Zhuhai Patentee after: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI Patentee after: ZHUHAI GREE INTELLIGENT EQUIPMENT CO., LTD. Address before: 519070 Jinji West Road, Qianshan, Zhuhai City, Guangdong Province Gree Electric Appliances Inc. of Zhuhai Patentee before: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI |