CN205605764U - Robot joint hydraulic pressure reduction gear - Google Patents

Abstract

The utility model relates to a robot joint hydraulic pressure reduction gear for robot joint reduction gear technical field. What solve is: the current reduction gear technical content of robot, required precision height, the moment of torsion is little, there is the transmission clearance, fixed class of technical problem of drive ratio. Robot joint hydraulic pressure reduction gear includes the fixed lid of stator, stator sealing ring, rotary piston sealing ring, rotor, rotary encoder and rotary encoder axle etc. Hydraulic oil connects the hole to two independent seal chamber oil feeds, the rotations such as driving rotor, rotary piston sealing ring, rotary encoder of producing oil through the stator, change slew velocity such as rotor, rotary piston sealing ring, rotary encoder through changing the oil feed, going out oil flow, through changing rotation directions such as oil feed, the direction of producing oil change rotor, rotary piston sealing ring, rotary encoder, through changing torques sizes such as oil feed, the pressure differential of producing oil change rotor, rotary piston sealing ring, rotary encoder, rotary encoder is used for detecting pivoted angle displacement, angular speed.

Description

A kind of joint of robot hydraulic retarder

Technical field

This utility model relates to robot joint speed reducer technical field, especially a kind of joint of robot hydraulic retarder.

Background technology

Robot building industry is to weigh an important indicator of a national manufacturing industry level of aggregation, and especially robot decelerator, its technology contains Amount, required precision higher.Current existing robot decelerator dominant form is that this is to manufacture based on the machine driving such as harmonic wave, planetary gear Industry level proposes very high request, and a lot of decelerator manufacturing enterprises feel frustrated, and it is certain tired that the most existing robot decelerator accomplishes that high pulling torque also has Difficulty, existing decelerator weak point gear ratio fixes, and also mechanical reduction inevitably has drive gap, affects decelerator transmission accuracy.

Utility model content

The technical problems to be solved in the utility model is: in order to solve technology content in existing robotic's gearing speed-reducer technology, required precision height； Moment of torsion is little；There is drive gap；The technical problems such as gear ratio is fixing.A kind of Novel reducer solution is provided.

This utility model solves its technical problem and be the technical scheme is that a kind of joint of robot hydraulic retarder, closes for rotating in robot Deceleration device at joint.

It is characterized in that: include stator one, stator two, seal stator ring, rotary piston sealing ring, rotor, bearing flange one, bearing flange two, axle Hold the fixing lid of lid one, bearing cap two, output flange, rotary encoder and rotary coder shaft.

Described stator one, stator two are to add just as on the hollow recess disc structure of a part, stator one inner peripheral surface after two pieces of fixed installations Work has that to be machined with the first sealing for installing seal stator ring on the first fan-shaped boss, the first fan-shaped boss and stator one, stator two inner peripheral surface recessed Groove, the first sealed groove sharp corner is machined with the first chamfering；It is machined with respectively on described stator one, stator 2 first faying face, the second faying face Use special screw diagonal angle to install on the contrary for fixed stator one, the screwed hole of stator two, screw unthreaded hole, stator one, stator two both ends of the surface are processed Have for installing bearing cap one, the first screwed hole of bearing cap two and the first positioning spigot, the second screwed hole and the second positioning spigot；Described stator The first joint screw thread hole it is machined with outside one great circle side face；The first color region it is machined with on described stator one first joint screw thread hole end surface, first The wire clamp angle, two edges of color region and the first fan-shaped boss angle are equal；Combine on described stator one, stator two big circumference boss and near first Two the first dowel holes respectively it are machined with at face, the second faying face.

Described seal stator ring be two concentrically with respect to one another the first annulus connected and composed by the first square bar of "door" type；Described seal stator ring Two the first annulus and the first "door" type square bar junction are machined with the second chamfering, and the first "door" type square bar sharp corner uses the first fillet mistake Cross.

Described rotary piston sealing ring be two concentrically with respect to one another the second annulus connected and composed by the second square bar of "door" type；Described rotary piston sealing ring Two the second annulus and square article of junction of the second "door" type are machined with the 3rd chamfering, and the second "door" type square bar sharp corner uses the second fillet mistake Cross.

Described rotor is cylindrical sector boss interior grooves structure, and rotor outer circle side face is machined with the second fan-shaped boss, at the second fan-shaped boss and Being machined with the second sealed groove for installing rotary piston sealing ring on rotor circumference face, the second sealed groove sharp corner is machined with the 4th chamfering；Described On rotor the first end face, processing is for installing the 3rd screwed hole, the first positioning round orifice and second dowel hole of bearing flange one；Described rotor second On end face, processing is for installing the second positioning round orifice and the first screw unthreaded hole of bearing flange two.

Described bearing flange one is circular ring structure, and it is machined with the clutch shaft bearing installation axle that spring bearing rotates；Described bearing flange one adds Work has installs axle for the first sealing installing rotary piston sealing ring；It is machined with the 3rd sealed groove and for installing on described bearing flange one large end face 3rd positioning spigot of rotor, bearing flange one small end face is machined with the 3rd positioning round orifice for installing output flange；Described bearing flange one It is machined with on small end face for connecting fixing output flange, the second screw unthreaded hole of rotor and the 3rd dowel hole and the second screw unthreaded hole and the 3rd location Pin-and-hole is distributed along bearing flange one axis uniform circular.

Described bearing flange two is circular ring structure, and it is machined with the second bearing installation axle that spring bearing rotates；Described bearing flange two adds Work has installs axle for the second sealing installing rotary piston sealing ring；It is machined with the 4th sealed groove and for installing on described bearing flange two large end face 4th positioning spigot of rotor；The 4th screwed hole for connecting fixed rotor it is machined with and along bearing flange two on described bearing flange two small end face Axis uniform circular is distributed；It is machined with the 4th positioning round orifice for connecting fixing rotary encoder and the 3rd spiral shell on described bearing flange two inner face Mercerising hole.

Described bearing cap one is circular ring structure, it is machined with for connecting stator one, the 5th positioning round orifice of stator two；Described bearing cap one On be machined with spring bearing rotate clutch shaft bearing installing hole；Be machined with on described bearing cap one roundlet side face, inner face the 5th sealed groove, 6th sealed groove；The second joint screw thread hole for installing oil connection it is machined with on described bearing cap one periphery；In described bearing cap one It is machined with on end face for fixed stator one, the 4th screw unthreaded hole of stator two.

Described bearing cap two is circular ring structure, it is machined with for connecting stator one, the 6th positioning round orifice of stator two；Described bearing cap two On be machined with spring bearing rotate the second bearing mounting hole；Be machined with on described bearing cap two roundlet side face, inner face the 7th sealed groove, 8th sealed groove；The 3rd joint screw thread hole for installing oil connection it is machined with and for installing fixing rotation on described bearing cap two outer face Encoder axle fixes the 5th screwed hole of lid；It is machined with for fixed stator one, the 5th screw unthreaded hole of stator two on described bearing cap two inner face.

Described output flange is circular ring structure, it is machined with the 5th positioning spigot installed with bearing flange one, on the 5th positioning spigot periphery It is machined with the 9th sealed groove；The 6th screw unthreaded hole and the 4th for fixing bearing flange one, rotor it is machined with on described output flange inner face Dowel hole, and the 6th screw unthreaded hole and the 4th dowel hole are along the distribution of output flange axis uniform circular；Process on described output flange inner face There is cylinder concave station and concentric with the 6th screw unthreaded hole, the 4th dowel hole respectively；It is machined with the second color region on described output flange outer face, The wire clamp angle, two edges of the second color region and the second of rotor the fan-shaped boss angle are equal.

The fixing lid of described rotary coder shaft is disk table stage structure, and it is machined with the 7th positioning round orifice for installing rotary coder shaft；Institute The rotary coder shaft stated fixes the 7th screw unthreaded hole being machined with on lid end face for connecting bearing cap two.

The application has inside joint of robot hydraulic retarder multiple sealing cavity relatively independent, different pressures, can preferably play robot Joint hydraulic decelerator performance.

Accompanying drawing explanation

Below in conjunction with the accompanying drawings this utility model is further illustrated.

Fig. 1 is a kind of joint of robot hydraulic retarder assembly decomposing schematic representation；

Fig. 2 is the schematic perspective view of joint of robot hydraulic retarder；

Fig. 3 is stator one schematic perspective view one；

Fig. 4 is stator one schematic perspective view two；

Fig. 5 is stator one schematic perspective view three；

Fig. 6 is stator one principal plane schematic diagram；

Fig. 7 is stator one side floor map；

Fig. 8 is Fig. 7 stator one generalized section；

Fig. 9 is stator two schematic perspective view one；

Figure 10 is stator two schematic perspective view two；

Figure 11 is stator two principal plane schematic diagram；

Figure 12 is seal stator ring schematic perspective view；

Figure 13 is seal stator ring schematic top plan view；

Figure 14 is rotary piston sealing ring schematic perspective view；

Figure 15 is rotary piston sealing ring schematic top plan view；

Figure 16 is rotor schematic perspective view；

Figure 17 is rotor main floor map；

Figure 18 is Figure 17 rotor profiles schematic diagram；

Figure 19 is bearing flange one principal plane schematic diagram；

Figure 20 is Figure 19 bearing flange one generalized section；

Figure 21 is bearing flange two principal plane schematic diagram；

Figure 22 is Figure 21 bearing flange two generalized section；

Figure 23 is bearing cap one principal plane schematic diagram；

Figure 24 is Figure 23 bearing cap one generalized section；

Figure 25 is Figure 24 bearing cap one close-up schematic view；

Figure 26 is bearing cap two principal plane schematic diagram；

Figure 27 is Figure 26 bearing cap two generalized section；

Figure 28 is output flange principal plane schematic diagram one；

Figure 29 is Figure 28 output flange generalized section；

Figure 30 is Figure 29 output flange close-up schematic view；

Figure 31 is output flange principal plane schematic diagram two；

Figure 32 is that rotary coder shaft fixes lid schematic perspective view.

In figure: 100. stators one, 200. stators two, 300. seal stator rings, 400. rotary piston sealing rings, 500. rotors, 600. bearing flanges one, 700. bearing flanges two, 800. bearing caps one, 900. bearing caps two, 1000. output flanges, the fixing lid of 1100. rotary coder shafts, 1200. bearings, 1300. rotary encoders, 1400. oil connections, 1500. special screws, 101. first fan-shaped boss, 102. first sealed grooves, 103. first Chamfering, 104. screwed holes, screw unthreaded hole, 105. first screwed holes, 106. first positioning spigots, 107. second positioning spigots, 108. first joints Screwed hole, 109. first color regions, 110. first dowel holes, 111. first faying faces, 112. second faying faces, 113. second screwed holes, 301. first annulus, the 302. first square bars of "door" type, 303. second chamferings, 304. first fillets, 401. second annulus, 402. second " doors " The square bar of type, 403. the 3rd chamferings, 404. second fillets, 501. second fan-shaped boss, 502. second sealed grooves, 503. the 4th chamferings, 504. Rotor the first end face, 505. the 3rd screwed holes, 506. first positioning round orifice, 507. second dowel holes, 508. rotor the second end faces, 509. second Positioning round orifice, 510. first screw unthreaded holes, 601. clutch shaft bearings install axles, and 602. first seal and install axles, 603. the 3rd sealed grooves, and 604. the Three positioning spigots, 605. the 3rd positioning round orifice, 606. second screw unthreaded holes, 607. the 3rd dowel holes, 608. bearing flange one axis, 701. Axle installed by two bearings, and 702. second seal installation axle, 703. the 4th sealed grooves, 704. the 4th positioning spigots, 705. the 4th screwed holes, 706. axles Hold flange two axis, 707. the 4th positioning round orifice, 708. the 3rd screw unthreaded holes, 801. the 5th positioning round orifice, 802. clutch shaft bearing installing holes, 803. 5th sealed groove, 804. the 6th sealed grooves, 805. second joint screw thread holes, 806. the 4th screw unthreaded holes, 901. the 6th positioning round orifice, 902. Second bearing mounting hole, 903. the 7th sealed grooves, 904. the 8th sealed grooves, 905. the 3rd joint screw thread holes, 906. the 5th screwed holes, 907. 5th screw unthreaded hole, 1001. the 5th positioning spigots, 1002. the 9th sealed grooves, 1003. the 6th screw unthreaded holes, 1004. the 4th dowel holes, 1005. output flange axis, 1006. cylinder concave stations, 1007. second color regions, 1101. the 7th positioning round orifice, 1102. the 7th screw unthreaded holes, 1700. independent sealed cavitys one, 1800. independent sealed cavitys two.

Detailed description of the invention

This utility model operating principle is summarized: hydraulic oil is close to two independences by the first joint screw thread hole 108 presently in connection with explanation accompanying drawing Envelope cavity 1 and independent sealed cavity 2 1800 oil-feed, fuel-displaced come rotor driven 500, rotary piston sealing ring 400, bearing flange 1, axle Hold flange 2 700, output flange 1000, rotary encoder 1300 rotate；By changing oil-feed, fuel-displaced flow changes rotor 500, rotor seal Ring 400, bearing flange 1, bearing flange 2 700, output flange 1000, rotary encoder 1300 velocity of rotation；By change oil-feed, Fuel-displaced direction changes rotor 500, rotary piston sealing ring 400, bearing flange 1, bearing flange 2 700, output flange 1000, rotary encoder 1300 rotation directions；By changing oil-feed, fuel-displaced pressure differential changes rotor 500, rotary piston sealing ring 400, bearing flange 1, bearing flange 2 700, output flange 1000, rotary encoder 1300 level of torque；Rotary encoder 1300 be used for detecting rotor 500, rotary piston sealing ring 400, The angular displacement of bearing flange 1, bearing flange 2 700, output flange 1000 rotation, angular velocity.

Presently in connection with explanation accompanying drawing, this utility model is described in further detail.These accompanying drawings are the schematic diagram of simplification, say the most in a schematic way Bright essential structure of the present utility model, therefore it only shows the composition relevant with this utility model.

Fig. 1 one joint of robot hydraulic retarder essential structure: include stator 1, stator 2 200, seal stator ring 300, rotor seal Ring 400, rotor 500, bearing flange 1, bearing flange 2 700, bearing cap 1, bearing cap 2 900, output flange 1000, rotation Turn encoder axle and fix the compositions such as lid 1100, bearing 1200 and rotary encoder 1300.

Described joint of robot hydraulic retarder each part connected mode: stator 1, stator 2 200 use screwed hole, screw unthreaded hole 104 Installed on the contrary by special screw 1500 diagonal angle；Bearing cap one 800 the 5th positioning round orifice 801 and the first positioning spigot 106, bearing cap one 800 Four screw unthreaded holes 806 and the first screwed hole 105, the 6th positioning round orifice 901 and the second positioning spigot 107, bearing cap 2 900 of bearing cap 2 900 5th screw unthreaded hole 907 is connected with the second screwed hole 113, also has location and fixation to stator 1, stator 2 200；Stator is close Seal ring 300 is arranged in the first sealed groove 102 of stator 1, stator 2 200；Rotary piston sealing ring 400 is arranged on the second of rotor 500 In sealed groove 502；Bearing flange 1, output flange 1000 are positioned by the 3rd positioning spigot 604 and the first positioning round orifice the 506, the 5th Seam 1001 and the 3rd positioning round orifice the 605, the 4th dowel hole 1004 and the 3rd dowel hole 607 and the second dowel hole the 507, the 6th screw Unthreaded hole 1003 and the second screw unthreaded hole 606 and being connected of the 3rd screwed hole 505 are fixed with rotor 500 simultaneously；Bearing flange 2 700 passes through 4th positioning spigot 704 and the second positioning round orifice the 509, the 4th screwed hole 705 and the first screw unthreaded hole 510 be connected and rotor 500 is fixed； Rotary encoder 1300 is fixed with bearing flange 2 700 by the 4th positioning round orifice 707 and the 3rd screw unthreaded hole 708；Rotary coder shaft is fixed Lid 1100 use the 7th positioning round orifice 1101 are connected with rotary encoder 1300 axle, and pass through the 7th screw unthreaded hole 1102 and bearing cap 2 900 the Five screwed holes 906 are fixed；Two bearings 1200 are respectively installed to bearing flange 1 clutch shaft bearing and install axle 601, bearing cap one 800 first axle Hold installing hole 802, bearing flange 2 700 second bearing is installed in axle 701, bearing cap 2 900 second bearing mounting hole 902；Two oil pipes connect 1400 are respectively installed in bearing cap one 800 second joint screw thread hole 805, bearing cap 2 900 the 3rd joint screw thread hole 905.

Described joint of robot hydraulic retarder color region mounting means: wire clamp angle, the two edges a1 of the first color region 109 of stator 1 Equal with the first fan-shaped boss angle a2；The two edges wire clamp angle b2 and the second of rotor 500 of the second color region 1007 of output flange 1000 Fan-shaped boss angle b1 is equal, and the edge line of two angles coincides when being just shown in the second color region 1007.

Claims (9)

1. a joint of robot hydraulic retarder, it is characterised in that: include stator one (100), stator two (200), seal stator ring (300), Rotary piston sealing ring (400), rotor (500), bearing flange one (600), bearing flange two (700), bearing cap one (800), bearing cap two (900), The fixing lid (1100) of output flange (1000), rotary encoder (1300) and rotary coder shaft；

Described stator one (100), stator two (200) are just as in the hollow recess disc structure of a part, stator after two pieces of fixed installations The first fan-shaped boss (101), the first fan-shaped boss (101) and stator one (100), stator two (200) it is machined with on one (100) inner peripheral surface Being machined with the first sealed groove (102) for installing seal stator ring (300) on inner peripheral surface, the first sealed groove (102) sharp corner is processed There is the first chamfering (103)；Described stator one (100), stator two (200) first faying face (111), the second faying face (112) are upper respectively It is machined with and uses special screw (1500) diagonal angle phase for fixed stator one (100), the screwed hole of stator two (200), screw unthreaded hole (104) Anti-install, stator one (100), stator two (200) both ends of the surface are machined with for install bearing cap one (800), the of bearing cap two (900) One screwed hole (105) and the first positioning spigot (106), the second screwed hole (113) and the second positioning spigot (107)；Described stator one (100) The first joint screw thread hole (108) it is machined with outside great circle side face；It is machined with on described stator one (100) first joint screw thread hole (108) end face First color region (109), the wire clamp angle, two edges (a1) of the first color region (109) and the first fan-shaped boss angle (a2) are equal；Institute Respectively process on the stator one (100) stated, stator two (200) big circumference boss and near the first faying face (111), the second faying face (112) place There are two the first dowel holes (110).

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: seal stator ring (300) be two concentrically with respect to one another First annulus (301) is connected and composed by the square bar of the first "door" type (302)；Two the first annulus of described seal stator ring (300) (301) it is machined with the second chamfering (303), the first "door" type square bar (302) wedge angle with the first "door" type square bar (302) junction Place uses the first fillet (304) transition；Rotary piston sealing ring (400) be two concentrically with respect to one another the second annulus (401) by the second "door" type side Shape bar (402) connects and composes；Two the second annulus (401) of described rotary piston sealing ring (400) and the square bar of the second "door" type (402) Junction is machined with the 3rd chamfering (403), and the second "door" type square bar (402) sharp corner uses the second round-corner transition (404).

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: rotor (500) is cylindrical sector boss inner-concave Groove structure, rotor (500) outer circumference surface is machined with the second fan-shaped boss (501), at the second fan-shaped boss (501) and rotor (500) circle Being machined with the second sealed groove (502) for installing rotary piston sealing ring (400) on side face, the second sealed groove (502) sharp corner is machined with Four chamferings (503)；The upper processing of described rotor the first end face (504) be used for installing the 3rd screwed hole (505) of bearing flange one (600), the One positioning round orifice (506) and the second dowel hole (507)；The upper processing of described rotor the second end face (508) is used for installing bearing flange two (700) The second positioning round orifice (509) and the first screw unthreaded hole (510).

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: bearing flange one (600) is circular ring structure, its On be machined with spring bearing (1200) rotate clutch shaft bearing install axle (601)；Described bearing flange one (600) is machined with for installing Axle (602) is installed in first sealing of rotary piston sealing ring (400)；It is machined with the 3rd sealed groove (603) on described bearing flange one (600) large end face Be used for installing the 3rd positioning spigot (604) of rotor (500), bearing flange one (600) small end face is machined with for installing output flange (1000) The 3rd positioning round orifice (605)；It is machined with for connecting fixing output flange (1000), rotor on described bearing flange one (600) small end face (500) the second screw unthreaded hole (606) and the 3rd dowel hole (607) and the second screw unthreaded hole (606) and the 3rd dowel hole (607) It is distributed along bearing flange one axis (608) uniform circular.

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: bearing flange two (700) is circular ring structure, its On be machined with spring bearing (1200) rotate second bearing install axle (701)；Described bearing flange two (700) is machined with for installing Axle (702) is installed in second sealing of rotary piston sealing ring (400)；It is machined with the 4th sealed groove (703) on described bearing flange two (700) large end face Be used for installing the 4th positioning spigot (704) of rotor (500)；It is machined with for connecting fixing on described bearing flange two (700) small end face 4th screwed hole (705) of rotor (500) and being distributed along bearing flange two axis (706) uniform circular；Described bearing flange two (700) The 4th positioning round orifice (707) for connecting fixing rotary encoder (1300) and the 3rd screw unthreaded hole (708) it is machined with on inner face.

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: bearing cap one (800) is circular ring structure, on it It is machined with for connecting stator one (100), the 5th positioning round orifice (801) of stator two (200)；It is machined with on described bearing cap one (800) The clutch shaft bearing installing hole (802) that spring bearing (1200) rotates；It is machined with on described bearing cap one (800) roundlet side face, inner face 5th sealed groove (803), the 6th sealed groove (804)；It is machined with for installing oil connection on described bearing cap one (800) periphery (1400) the second joint screw thread hole (805)；It is machined with for fixed stator one (100) on described bearing cap one (800) inner face, determines 4th screw unthreaded hole (806) of son two (200).

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: bearing cap two (900) is circular ring structure, on it It is machined with for connecting stator one (100), the 6th positioning round orifice (901) of stator two (200)；It is machined with on described bearing cap two (900) The second bearing mounting hole (902) that spring bearing (1200) rotates；It is machined with on described bearing cap two (900) roundlet side face, inner face 7th sealed groove (903), the 8th sealed groove (904)；It is machined with for installing oil connection on described bearing cap two (900) outer face (1400) the 3rd joint screw thread hole (905) and be used for installing the 5th screwed hole (906) of the fixing lid (1100) of fixing rotary coder shaft: It is machined with for fixed stator one (100), the 5th screw unthreaded hole (907) of stator two (200) on described bearing cap two (900) inner face.

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: output flange (1000) is circular ring structure, its On be machined with the 5th positioning spigot (1001) installed with bearing flange one (600), the 5th positioning spigot (1001) periphery is machined with the 9th Sealed groove (1002)；It is machined with on described output flange (1000) inner face for fixing bearing flange one (600), rotor (500) 6th screw unthreaded hole (1003) and the 4th dowel hole (1004), and the 6th screw unthreaded hole (1003) and the 4th dowel hole (1004) are along defeated Go out the distribution of flange axis (1005) uniform circular；Be machined with on described output flange (1000) inner face cylinder concave station (1006) and respectively with 6th screw unthreaded hole (1003), the 4th dowel hole (1004) are concentric；It is machined with the second color on described output flange (1000) outer face Region (1007), the wire clamp angle, two edges (b2) of the second color region (1007) and the second of rotor (500) the fan-shaped boss angle (b1) phase Deng.

Joint of robot hydraulic retarder the most according to claim 1, it is characterised in that: the fixing lid (1100) of rotary coder shaft is circle Dish ledge structure, it is machined with the 7th positioning round orifice (1101) for installing rotary encoder (1300) axle, described rotary coder shaft It is machined with the 7th screw unthreaded hole (1102) for connecting bearing cap two (900) on fixing lid (1100) end face.