CN207359113U - A kind of modularization high-accuracy mechanical arm cradle head - Google Patents
A kind of modularization high-accuracy mechanical arm cradle head Download PDFInfo
- Publication number
- CN207359113U CN207359113U CN201721222610.1U CN201721222610U CN207359113U CN 207359113 U CN207359113 U CN 207359113U CN 201721222610 U CN201721222610 U CN 201721222610U CN 207359113 U CN207359113 U CN 207359113U
- Authority
- CN
- China
- Prior art keywords
- cradle head
- mechanical arm
- retarders
- planetary reduction
- reduction gear
- Prior art date
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- 238000007789 sealing Methods 0.000 claims description 23
- 238000009434 installation Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000001050 lubricating effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 210000003746 feather Anatomy 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Abstract
A kind of modularization high-accuracy mechanical arm cradle head is the utility model is related to, belongs to mechanical arm technical field.Including cradle head body arm, servomotor is provided with the cradle head body arm, the output shaft of the servomotor connects the input terminal of planetary reduction gear, fastening spring, drive bevel gear and baffle are installed successively on the output shaft of the planetary reduction gear again；The drive bevel gear with driven wheel of differential is perpendicular contacts, the driven wheel of differential is installed on by bolt on the input shaft of RV retarders, electric slip ring is provided with the RV retarders, the output terminal of the RV retarders is fixedly connected with the male connector of the electric slip ring.The modularization high-accuracy mechanical arm cradle head can realize that mechanical arm tail end low-speed big exports, and can accurate control module rotational angle.Meanwhile the joint uses modularized design, replacement is quick and convenient, by being combined with base module and terminus module, just can be assembled into the manipulator of some frees degree.
Description
Technical field
A kind of arm segments are the utility model is related to, more specifically, it is high-precision to the utility model is related to a kind of modularization
Mechanical arm cradle head is spent, belongs to mechanical arm technical field.
Background technology
In recent years, as the development of national economy, Robot industry rapidly increase.In general, ripe robot can
It is higher by property, but also have certain failure rate.Once breaking down, then specialized maintenance is needed, according to the difference of problem, during maintenance
Between have with short, the influence to production is difficult to assess.Modularization robot passes through modular mechanical shoulder joint and corresponding accessory group
Dress forms, once breaking down, after judging malfunctioning module by the expert system simply assessed or robot carries, uses phase
The new module answered replaces malfunctioning module, and robot can work on.Modular mechanical shoulder joint has the mechanical interface of standard
And electric interfaces, when replacement only need simply dismounting and plug to can be achieved with quick-replaceable, when greatly reducing robot and stopping work
Between, reduce the influence to production.And the malfunctioning module changed can then transfer to professional person to carry out professional treatment.
On the other hand, in some low-speed heave-load application scenarios, the terminal position required precision of mechanical arm is higher, this is just needed
The precision of each module joint is in controlled range.
State Intellectual Property Office discloses a Publication No. CN105818161A in 2016.8.3, entitled " in one kind
A kind of invention of cabling robot revolute joint module ", interior cabling robot revolute joint module of the disclosure of the invention, passes through one
Output power is driven through harmonic speed reducer after level column gear transmission, realizes that joint is turned round.Wherein have the following disadvantages：
（1）Inevitably there is back clearance in column gear transmission, and the exacerbation worn therewith, and back clearance can be increasing, so as to turn round
The precision in joint can gradually reduce；
（2）Roller gear gear drive can only be arranged in parallel, to cradle head or other have driving angle requirement joint
And do not apply to.
Utility model content
The utility model aims to solve the problem that the precision of prior art joint module rotational angle is not high, to cradle head or other
The problem of having the joint of driving angle requirement and not applying to, there is provided a kind of modularization high-accuracy mechanical arm cradle head, the module
Changing high-accuracy mechanical arm cradle head can realize that mechanical arm tail end low-speed big exports, and can accurate control module angle of rotation
Degree.Meanwhile the joint uses modularized design, replacement is quick and convenient, just can group by being combined with base module and terminus module
Dress up the manipulator of some frees degree.
In order to realize above-mentioned purpose of utility model, its specific technical solution is as follows：
A kind of modularization high-accuracy mechanical arm cradle head, it is characterised in that：Including cradle head body arm, the rotation
Servomotor is provided with the body arm of joint, the output shaft of the servomotor connects the input terminal of planetary reduction gear again, described
Fastening spring, drive bevel gear and baffle are installed successively on the output shaft of planetary reduction gear；The drive bevel gear with from mantle
The perpendicular contact of gear, the driven wheel of differential is installed on by bolt on the input shaft of RV retarders, in the RV retarders
Electric slip ring is provided with, the output terminal of the RV retarders is fixedly connected with the male connector of the electric slip ring.
The utility model is preferable, and being fixed on planet again after the servomotor and planetary reduction gear cooperation installation subtracts
On fast device base.
The utility model is preferable, and one end of the cradle head body arm is provided with flange-interface, the cradle head
The other end of body arm is fixedly connected with the planetary reduction gear base.
The utility model is preferable, and gap is left between the drive bevel gear and the baffle.
The utility model is preferable, and the female of the electric slip ring is fixedly connected with sealing cover, is provided with the sealing cover
Sealing ring, the drive bevel gear, the driven wheel of differential, the sealing cover and the sealing ring form closed space.
The utility model is preferable, is provided with below the sealing cover and subtracts with the planetary reduction gear base and the RV
The end cap that the shell of fast device is fixedly connected.
The utility model is preferable, and the side of the planetary reduction gear base sets through hole, the planetary reduction gear base
Lower face side the fixing screwed hole of the end cap is set, the upper surface of the planetary reduction gear base sets RV retarders
Shell installs interface.
The advantageous effects that the utility model is brought：
1st, the utility model solve prior art joint module rotational angle precision it is not high, to cradle head or other
The problem of having the joint of driving angle requirement and not applying to, there is provided a kind of modularization high-accuracy mechanical arm cradle head, the module
Changing high-accuracy mechanical arm cradle head can realize that mechanical arm tail end low-speed big exports, and can accurate control module angle of rotation
Degree.Meanwhile the joint uses modularized design, replacement is quick and convenient, just can group by being combined with base module and terminus module
Dress up the manipulator of some frees degree.
2nd, the utility model has independent lubricating place, ensures Bevel Gear Transmission energy effectively lubricating, reduces abrasion, increase
Service life.
3rd, the utility model is slowed down using the three-level of planetary reduction gear+Bevel Gear Transmission+RV reducer groups, can be realized more
The output of low velocity more large torque.
4th, the utility model intergrade Bevel Gear Transmission is contacted using flexible resilient, ensures that driving gear and driven gear are total
It can completely attach to, realize that zero back clearance is driven, improve transmission accuracy.
5th, this joint uses modularized design, and when replacement only needs simply to dismount and plug to can be achieved with quick-replaceable, subtracts
Shao Liao robots downtime, improves work efficiency.
6th, in inside configuration, protective is strong, can be in severe ring for the utility model motor, driving part and cable Hide All
Work in border.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of the utility model cradle head；
Fig. 2 is the side structure schematic view of the utility model cradle head；
Fig. 3 is the overlooking the structure diagram of the utility model cradle head；
Fig. 4 is the Bevel Gear Transmission part enlarged structure schematic diagram of the utility model cradle head.
Reference numeral：1 it is cradle head body arm, 2 be servomotor, 3 be planetary reduction gear, 4 be fastening spring, 5 is
Drive bevel gear, 6 be baffle, 7 be driven wheel of differential, 8 be RV retarders, 9 be electric slip ring, 10 be planetary reduction gear base, 11
It is sealing cover for flange-interface, 12,13 be sealing ring, 14 is end cap.
Embodiment
Embodiment 1
A kind of modularization high-accuracy mechanical arm cradle head, including cradle head body arm 1, the cradle head body arm
Servomotor 2 is provided with 1, the output shaft of the servomotor 2 connects the input terminal of planetary reduction gear 3 again, and the planet subtracts
Fastening spring 4, drive bevel gear 5 and baffle 6 are installed successively on the output shaft of fast device 3；The drive bevel gear 5 with from mantle tooth
7 perpendicular contacts are taken turns, the driven wheel of differential 7 is installed on by bolt on the input shaft of RV retarders 8, the RV retarders 8
Electric slip ring 9 is inside provided with, the output terminal of the RV retarders 8 is fixedly connected with the male connector of the electric slip ring 9.
Embodiment 2
A kind of modularization high-accuracy mechanical arm cradle head, including cradle head body arm 1, the cradle head body arm
Servomotor 2 is provided with 1, the output shaft of the servomotor 2 connects the input terminal of planetary reduction gear 3 again, and the planet subtracts
Fastening spring 4, drive bevel gear 5 and baffle 6 are installed successively on the output shaft of fast device 3；The drive bevel gear 5 with from mantle tooth
7 perpendicular contacts are taken turns, the driven wheel of differential 7 is installed on by bolt on the input shaft of RV retarders 8, the RV retarders 8
Electric slip ring 9 is inside provided with, the output terminal of the RV retarders 8 is fixedly connected with the male connector of the electric slip ring 9.
Preferably, the servomotor 2 and the planetary reduction gear 3 are fixed on planetary reduction gear base again after coordinating installation
On 10.
Further, one end of the cradle head body arm 1 is provided with flange-interface 11, the cradle head body arm
1 other end is fixedly connected with the planetary reduction gear base 10.
Embodiment 3
A kind of modularization high-accuracy mechanical arm cradle head, including cradle head body arm 1, the cradle head body arm
Servomotor 2 is provided with 1, the output shaft of the servomotor 2 connects the input terminal of planetary reduction gear 3 again, and the planet subtracts
Fastening spring 4, drive bevel gear 5 and baffle 6 are installed successively on the output shaft of fast device 3；The drive bevel gear 5 with from mantle tooth
7 perpendicular contacts are taken turns, the driven wheel of differential 7 is installed on by bolt on the input shaft of RV retarders 8, the RV retarders 8
Electric slip ring 9 is inside provided with, the output terminal of the RV retarders 8 is fixedly connected with the male connector of the electric slip ring 9.
Preferably, gap is left between the drive bevel gear 5 and the baffle 6.
Embodiment 4
A kind of modularization high-accuracy mechanical arm cradle head, including cradle head body arm 1, the cradle head body arm
Servomotor 2 is provided with 1, the output shaft of the servomotor 2 connects the input terminal of planetary reduction gear 3 again, and the planet subtracts
Fastening spring 4, drive bevel gear 5 and baffle 6 are installed successively on the output shaft of fast device 3；The drive bevel gear 5 with from mantle tooth
7 perpendicular contacts are taken turns, the driven wheel of differential 7 is installed on by bolt on the input shaft of RV retarders 8, the RV retarders 8
Electric slip ring 9 is inside provided with, the output terminal of the RV retarders 8 is fixedly connected with the male connector of the electric slip ring 9.
Preferably, the female of the electric slip ring 9 is fixedly connected with sealing cover 12, and sealing ring is provided with the sealing cover 12
13, the drive bevel gear 5, the driven wheel of differential 7, the sealing cover 12 and the sealing ring 13 form closed space.
Embodiment 5
A kind of modularization high-accuracy mechanical arm cradle head, including cradle head body arm 1, the cradle head body arm
Servomotor 2 is provided with 1, the output shaft of the servomotor 2 connects the input terminal of planetary reduction gear 3 again, and the planet subtracts
Fastening spring 4, drive bevel gear 5 and baffle 6 are installed successively on the output shaft of fast device 3；The drive bevel gear 5 with from mantle tooth
7 perpendicular contacts are taken turns, the driven wheel of differential 7 is installed on by bolt on the input shaft of RV retarders 8, the RV retarders 8
Electric slip ring 9 is inside provided with, the output terminal of the RV retarders 8 is fixedly connected with the male connector of the electric slip ring 9.
Preferably, the lower section of the sealing cover 12 is provided with and the planetary reduction gear base 10 and the RV retarders 8
The end cap 14 that is fixedly connected of shell.
Further, the side of the planetary reduction gear base 10 sets through hole, under the planetary reduction gear base 10
End face side sets the fixing screwed hole of the end cap 14, and the upper surface of the planetary reduction gear base 10 sets RV retarders 8
Shell installation interface.
Embodiment 6
1 right end of cradle head body arm sets the standard flange interface 11 being connected with other modules, and left end is set and planet
The installation interface of retarder base 10；2 output shaft of servomotor is fixed with being installed after the cooperation installation of planetary reduction gear 3 by bolt
On planetary reduction gear base 10, drive bevel gear 5 is installed by feather key on 3 output shaft of planetary reduction gear；
5 left end of drive bevel gear and the baffle 6 being fixed on 3 output shaft of planetary reduction gear have certain interval, its right end with
The left end of fastening spring 4 abuts, and 4 right side of fastening spring is abutted with 3 housing of planetary reduction gear, and therefore, drive bevel gear 5 can
Moved in axial a certain range, and remain be in close contact with driven wheel of differential 7 under spring force；Gap is set
It is in order to which drive bevel gear 5 can move in axial a certain range, so as to fulfill backlash compensation.Drive bevel gear 5 can be two-way
It is mobile.
Driven wheel of differential 7 is bolted on the input shaft of RV retarders 8, while driven wheel of differential 7 and sealing cover
12 and sealing ring 13 coordinate, form a closed space in driving and driven bevel gear region of engagement, when work can add in this region
Suitable lubricating grease, can effectively lubricate area, reduce abrasion, reduce noise, extend service life of gear
Sealing cover 12 is hollow structure, and step end face sets 9 female of electric slip ring installation interface, and 9 male connector of electric slip ring subtracts with RV
Fast 8 output terminal of device is fixed, and therefore, cradle head can infinitely controlling angle rotate；
10 side of planetary reduction gear base sets through hole, so that cable is from internal cabling, meanwhile, its lower face side is set
The fixing screwed hole of end cap 14 is put, upper surface sets the shell installation interface of RV retarders 8.
Claims (7)
- A kind of 1. modularization high-accuracy mechanical arm cradle head, it is characterised in that：Including cradle head body arm（1）, described turn Movable joint body arm（1）Inside it is provided with servomotor（2）, the servomotor（2）Output shaft connect planetary reduction gear again（3） Input terminal, the planetary reduction gear（3）Output shaft on fastening spring is installed successively（4）, drive bevel gear（5）And baffle （6）；The drive bevel gear（5）With driven wheel of differential（7）Perpendicular contact, the driven wheel of differential（7）Installed by bolt In RV retarders（8）Input shaft on, the RV retarders（8）Inside it is provided with electric slip ring（9）, the RV retarders（8）It is defeated Outlet and the electric slip ring（9）Male connector be fixedly connected.
- A kind of 2. modularization high-accuracy mechanical arm cradle head according to claim 1, it is characterised in that：The servo electricity Machine（2）With the planetary reduction gear（3）Planetary reduction gear base is fixed on again after coordinating installation（10）On.
- A kind of 3. modularization high-accuracy mechanical arm cradle head according to claim 2, it is characterised in that：Described rotate is closed Abridged edition body arm（1）One end be provided with flange-interface（11）, the cradle head body arm（1）The other end subtract with the planet Fast device base（10）It is fixedly connected.
- A kind of 4. modularization high-accuracy mechanical arm cradle head according to claim 1, it is characterised in that：The initiative taper Gear（5）With the baffle（6）Between leave gap.
- A kind of 5. modularization high-accuracy mechanical arm cradle head according to claim 1 or 2, it is characterised in that：The electricity Slip ring（9）Female be fixedly connected with sealing cover（12）, the sealing cover（12）On be provided with sealing ring（13）, the initiative taper Gear（5）, the driven wheel of differential（7）, the sealing cover（12）With the sealing ring（13）Form closed space.
- A kind of 6. modularization high-accuracy mechanical arm cradle head according to claim 5, it is characterised in that：The sealing cover （12）Lower section be provided with and the planetary reduction gear base（10）With the RV retarders（8）The end cap that is fixedly connected of shell （14）.
- A kind of 7. modularization high-accuracy mechanical arm cradle head according to claim 6, it is characterised in that：The planet subtracts Fast device base（10）Side set through hole, the planetary reduction gear base（10）Lower face side the end cap is set（14） Fixing screwed hole, the planetary reduction gear base（10）Upper surface set RV retarders（8）Shell installation interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721222610.1U CN207359113U (en) | 2017-09-22 | 2017-09-22 | A kind of modularization high-accuracy mechanical arm cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721222610.1U CN207359113U (en) | 2017-09-22 | 2017-09-22 | A kind of modularization high-accuracy mechanical arm cradle head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359113U true CN207359113U (en) | 2018-05-15 |
Family
ID=62349891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721222610.1U Active CN207359113U (en) | 2017-09-22 | 2017-09-22 | A kind of modularization high-accuracy mechanical arm cradle head |
Country Status (1)
| Country | Link |
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| CN (1) | CN207359113U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048989A (en) * | 2018-09-29 | 2018-12-21 | 电子科技大学 | A kind of mechanical carpal joint for nuclear environment |
| CN109333339A (en) * | 2018-10-17 | 2019-02-15 | 福州大学 | A kind of wheel hub numerical control polishing and its working method |
-
2017
- 2017-09-22 CN CN201721222610.1U patent/CN207359113U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048989A (en) * | 2018-09-29 | 2018-12-21 | 电子科技大学 | A kind of mechanical carpal joint for nuclear environment |
| CN109333339A (en) * | 2018-10-17 | 2019-02-15 | 福州大学 | A kind of wheel hub numerical control polishing and its working method |
| CN109333339B (en) * | 2018-10-17 | 2020-12-25 | 福州大学 | Wheel hub numerical control polishing machine and working method thereof |
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