CN207415355U - Robot - Google Patents
Robot Download PDFInfo
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- CN207415355U CN207415355U CN201721528089.4U CN201721528089U CN207415355U CN 207415355 U CN207415355 U CN 207415355U CN 201721528089 U CN201721528089 U CN 201721528089U CN 207415355 U CN207415355 U CN 207415355U
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- joint
- fixing device
- hole
- robot
- driving member
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Abstract
The utility model provides a kind of robot.Robot includes：First joint has inner cavity；Second joint in inner cavity, is provided with drive mechanism in second joint；Fixed mechanism, including fixing device, fixing device is fastenedly connected with second joint, and fixing device has the through hole passed through for driving member, so that driving member is sequentially connected with drive mechanism.The utility model efficiently solve the problems, such ass that the arthrodesis mode of robot in the prior art causes the transmission performance of robot poor.
Description
Technical field
The utility model is related to robotic technology field, in particular to a kind of robot.
Background technology
The common connection mode of joint of robot has the connection modes such as bevel gear connection, synchronizing wheel connection, motor direct-connected.It is logical
Chang Di, in the prior art using synchronizing wheel connection mode, this just needs to use bevel gear transition simultaneously.Specifically connection procedure is：
As shown in Figure 1, be connected in the first joint 5 ' with first flange 6 ' by the first fastener 1 ', by the second fastener 2 ' by first
Flange 6 ' is connected with retarder 7 ', then is connected retarder 7 ' with second joint 8 ' by the 3rd fastener 3 ', and then by first
It is assembled with second joint 8 ' in joint 5 '.Afterwards, second flange 9 ' is connected with the first joint 5 ' by the 4th fastener 4 ', with
Second flange 9 ' is packed into second joint 8 ', driving member 10 ' penetrates the first and second passes by the through hole in second flange 9 '
It is rotatablely connected in section and with the drive mechanism 11 ' in second joint 8 ', driving structure driving driving member 10 ' rotates so that
Driving member 10 ' drives drive mechanism 11 ' to be moved, to realize the action of robot.
However, in above-mentioned connection mode, filled if the multistage between the first joint 5 ' and second joint 8 ' is connected
With error, then it can cause occur gap or recurring structure interference between second flange 9 ' and second joint 8 ', then driving member 10 '
Ensure with the tolerance levels of the gap of second joint 8 ' by the relevant parts of institute, add and control difficulty and processing cost, shadow
The transmission irregularity and stability of driving member 10 ' and drive mechanism 11 ' are rung, larger drive noise is brought, robot is caused to move
Make discontinuous or can not achieve action.
Utility model content
The main purpose of the utility model is that providing a kind of robot, consolidated with the joint for solving robot in the prior art
Determine the problem of mode causes the transmission performance of robot poor.
To achieve these goals, the utility model provides a kind of robot, including：First joint has inner cavity；The
Two joints in inner cavity, are provided with drive mechanism in second joint；Fixed mechanism, including fixing device, fixing device and the
Two joints are fastenedly connected, and fixing device has the through hole passed through for driving member, so that driving member is sequentially connected with drive mechanism.
Further, fixed mechanism further includes：Location structure is set on the securing means, and location structure can be with second
Joint counter stopper.
Further, for location structure to set limit protrusion on the securing means, second joint has mounting hole, transmission
Structure is located in mounting hole, and at least a portion of limit protrusion is connected on the hole wall of mounting hole to position.
Further, limit protrusion is bulge loop, and the outer diameter of bulge loop is equal to or more than the aperture of mounting hole.
Further, limit protrusion is multiple, multiple limit protrusions along the circumferentially disposed of mounting hole and with mounting hole
Hole wall contacts.
Further, fixing device is tubular structure, is formed to accommodate bearing group between tubular structure and second joint
The accommodating chamber of part, and the end face of the separate second joint of tubular structure has through hole, the end towards second joint of tubular structure
Location structure is provided on face.
Further, connecting portion, and separate second pass of connecting portion and tubular structure are provided on the barrel of tubular structure
There is preset distance, fastener to be fixed on after passing through connecting portion on second joint, by fixing device and the between the end face of section
Two joints connect.
Further, connecting portion radially extending along tubular structure, and formed and second between connecting portion and location structure
The notch that the shape of hole wall of the mounting hole in joint is adapted.
Further, connecting portion is connection ring.
Further, connecting portion is multiple connection bumps, and multiple connection bumps being provided at circumferentially spaced along tubular structure.
Further, fixed mechanism further includes：Sealing element, sealing element are arranged between driving member and fixing device to seal
Through hole.
Using the technical solution of the utility model, robot includes the first joint, second joint and fixed mechanism.Wherein,
First joint has inner cavity.Second joint is located in inner cavity, and drive mechanism is provided in second joint.Fixed mechanism includes fixing
Device, fixing device are fastenedly connected with second joint, and fixing device has the through hole passed through for driving member, so that driving member and biography
Dynamic structure driven connection.In this way, fixing device is directly connected with being provided with the second joint of drive mechanism, from the logical of fixing device
The driving member passed through on hole is connected with drive mechanism.
It is first fastenedly connected with the first joint in the prior art with second joint, fixing device is connected again with the first joint, most
Afterwards so that driving member through after the through hole in fixing device compared with the drive mechanism in second joint is sequentially connected, in the application
Fixing device be directly connected with second joint, driving member can be sequentially connected with drive mechanism through through hole, so prevent by
In the rigging error of the first joint and second joint the fit clearance of driving member and drive mechanism is caused to be difficult to control, also can
Prevent due to the first joint deforms and so that the link position of the first joint and fixing device changes, cause through logical
The driving member in the hole and fit-up gap of drive mechanism is excessive or transmission stability too small and that influence driving member and drive mechanism, flat
It is pliable.In this way, above-mentioned setting so that the internal drive action of robot in the application is more steady, robot is reduced due to passing
Dynamic unstable caused noise, vibration improve continuity of movement, the stability of robot, improve the quality of production of robot.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
New schematic description and description does not form the improper restriction to the utility model for explaining the utility model.
In the accompanying drawings：
The first joint and the sectional view after second joint assembling that Fig. 1 shows robot in the prior art；And
Fig. 2 shows the second joint of the embodiment of robot according to the present utility model and cuing open after fixing device assembling
View.
Wherein, above-mentioned attached drawing is marked including the following drawings：
1 ', first fastener；2 ', second fastener；3 ', the 3rd fastener；4 ', the 4th fastener；5 ', first joint；
6 ', first flange；7 ', retarder；8 ', second joint；9 ', second flange；10 ', driving member；11 ', drive mechanism；11st, second
Joint；111st, mounting hole；20th, fixing device；21st, through hole；22nd, accommodating chamber；30th, driving member；40th, location structure；50th, transmission knot
Structure；60th, bearing assembly；70th, connecting portion；80th, sealing element.
Specific embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is pointed out that unless otherwise specified, all technical and scientific terms used in this application have and the application
The normally understood identical meanings of person of an ordinary skill in the technical field.
In the utility model in the case where not making explanation on the contrary, the noun of locality such as " upper and lower " used is typically to be directed to
For direction shown in the drawings or on vertical, vertical or gravity direction；Similarly, for ease of understanding
And description, " left and right " is typically for shown in the drawings left and right；" inside and outside " refers to the profile compared with each component in itself
It is inside and outside, but the above-mentioned noun of locality is not intended to limit the utility model.
In order to which the arthrodesis mode for solving the problems, such as robot in the prior art causes the transmission performance of robot poor, this
Application provides a kind of fixed mechanism for robot.
As shown in Fig. 2, robot includes the first joint, second joint 11 and fixed mechanism.Wherein, the first joint has interior
Chamber.Second joint 11 is located in inner cavity, and drive mechanism 50 is provided in second joint 11.Fixed mechanism includes fixing device 20,
Fixing device 20 is fastenedly connected with second joint 11, and fixing device 20 has the through hole 21 passed through for driving member 30, so that transmission
Part 30 is sequentially connected with drive mechanism 50.
Fixing device 20 is directly connected with being provided with the second joint 11 of drive mechanism 50, from the through hole 21 of fixing device 20
On through driving member 30 be connected with drive mechanism 50.
It is first fastenedly connected with the first joint in the prior art with second joint, fixing device is connected again with the first joint, most
Afterwards so that driving member through after the through hole in fixing device compared with the drive mechanism in second joint is sequentially connected, the present embodiment
In fixing device 20 be directly connected with second joint 11, driving member 30 through through hole 21 can with drive mechanism 50 be driven connect
It connects, and then prevents the rigging error due to the first joint and second joint 11 and cause the cooperation of driving member 30 and drive mechanism 50
Gap is difficult to control, and can also prevent from causing the first joint and the connection position of fixing device 20 since the first joint deforms
It puts and changes, cause excessive or too small through the driving member 30 of through hole 21 and the fit-up gap of drive mechanism and influence driving member
30 with the transmission stability of drive mechanism 50, ride comfort.In this way, above-mentioned setting causes the internal drive of robot in the present embodiment
Action is more steady, reduces robot and links up due to being driven unstable caused noise, vibration, the action for improving robot
Property, stability improve the quality of production of robot.
In the present embodiment, the accessory size and quantity for needing control accuracy can be greatly decreased in robot, in single-stage component
Control closed loop is formed in (fixing device 20 and second joint 11), from second joint and the shadow of 11 assembly precision of second joint
It rings, the fixed position for also causing itself and fixing device 20 from the deformation due to the first joint changes, and causes through hole 21
Position changes and causes driving member 30 and the fit-up gap of drive mechanism 50 excessive or too small, and then has efficiently controlled biography
The fit clearance (such as gear backlash) of moving part 30 and drive mechanism 50 improves the transmission irregularity and stabilization of robot
Property, reduce drive noise, cost is reduced, beneficial to batch production.
As shown in Fig. 2, fixed mechanism further includes location structure 40.Wherein, location structure 40 is arranged in fixing device 20,
Location structure 40 can be with 11 counter stopper of second joint.In this way, in fixing device 20 and the assembling process of second joint 11,
Location structure 40 is first passed through with the counter stopper of second joint 11 with definite fixing device 20 and the specific installation of second joint 11
Position, and then the efficiency of assembling both improved, it is ensured that the assembly precision of the two, so that driving member 30 and drive mechanism 50 are matched somebody with somebody
It closes gap to be controlled, and then improves the transmission stability and ride comfort of driving member 30 and drive mechanism 50 so that robot
Action is more coherent, smooth.
As shown in Fig. 2, location structure 40 is the limit protrusion being arranged in fixing device 20, second joint 11 has installation
Hole 111, drive mechanism 50 is located in mounting hole 111, and at least a portion of limit protrusion is connected on the hole wall of mounting hole 111
With positioning.Specifically, 111 counter stopper of mounting hole of location structure 40 and second joint 11, with to fixing device 20 and second
The specific installation site in joint 11 is positioned, so that the assembly precision higher of the two, so that driving member 30 is with passing
The fit clearance of dynamic structure 50 is easy to control, and improves the transmission stability of driving member 30 and drive mechanism 50.Meanwhile limit protrusion
Structure it is simple, be easily worked, realize.
As shown in Fig. 2, limit protrusion is bulge loop, the outer diameter of bulge loop is equal to or more than the aperture of mounting hole 111.Specifically
Ground, bulge loop are located in mounting hole 111, fixing device 20 are located on second joint 11, prevent fixing device 20 from footpath occurs
Movement to direction so that staff is more prone to, precisely the assembling of fixing device 20 and second joint 11.The knot of bulge loop
Structure is simple, is easily worked, and then reduces the processing cost of robot.
In the accompanying drawings in unshowned other embodiment, limit protrusion is multiple, and multiple limit protrusions are along mounting hole
It is circumferentially disposed and contacted with the hole wall of mounting hole.Specifically, the hole wall counter stopper of multiple limit protrusions and mounting hole, and limit
Position protrusion is located in mounting hole, and fixing device is located on second joint, prevents fixing device from the shifting of radial direction occurs
It is dynamic so that staff is more prone to, precisely the assembling of fixing device and second joint.The above-mentioned setting of multiple limit protrusions
So that the mutual alignment of fixing device and second joint is more accurate, and then improve the assembly precision of the two.
It should be noted that the structure of location structure 40 is without being limited thereto.Optionally, location structure 40 include limit protrusion and
/V arc.Wherein, limit protrusion and /V arc are contacted along the circumferentially disposed of mounting hole and with the hole wall of mounting hole.
As shown in Fig. 2, fixing device 20 is tubular structure, formed to accommodate axis between tubular structure and second joint 11
The accommodating chamber 22 of bearing assembly 60, and the end face of the separate second joint 11 of tubular structure has through hole 21, the direction of tubular structure
Location structure 40 is provided on the end face of second joint 11.Above-mentioned setting causes the assembling of fixing device 20 and second joint 11 more
Add easy, easy, reduce the labor intensity of staff, shorten assembling and take.Meanwhile the said structure of fixing device 20 is set
Make its structure simpler, be easily worked, and then reduce the processing cost of robot.
Specifically, driving member 30 is power input shaft, and driving device is drivingly connected with driving member 30, to be carried to driving member 30
For power so that driving member 30 is rotated around its center axis.The bearing assembly 60 that 30 outer surface of driving member is set can be to transmission
Part 30 is played a supporting role, to ensure the normal rotational movement of driving member 30.Driving member 30 stretches into mounting hole 111 by through hole 21
It is interior, and be sequentially connected with drive mechanism 50, it will be in power transmission thereon to drive mechanism 50 so that drive mechanism 50 occurs
Action.
As shown in Fig. 2, be provided with connecting portion 70 on the barrel of tubular structure, and connecting portion 70 and tubular structure are away from the
Between the end face in two joints 11 there is preset distance, fastener to be fixed on after passing through connecting portion 70 on second joint 11, will consolidate
Determine device 20 to be connected with second joint 11.In this way, connecting portion 70 be located at tubular structure towards on the end face of second joint 11.On
It is simple to state the structure of structure, easily assembles.
Specifically, during fixing device 20 and second joint 11 are assembled, fixing device 20 is mounted in mounting hole
At 111, and cause the hole wall counter stopper of location structure 40 and mounting hole 111, and then fixing device 20 is located in mounting hole
111 appropriate location, afterwards again by fastener through connecting portion 70 and being tightened on second joint 11, by fixing device 20 with
Second joint 11 is assembled together.Afterwards, driving member 30 is passed through the through hole 21 in fixing device 20 and with drive mechanism 50
Dynamic connection, reduces the rigging error of driving member 30 and drive mechanism 50, ensures that fit clearance therebetween is controllable, Jin Erti
Action stability, ride comfort and the continuity of high robot improve the quality of robot.
It should be noted that the position setting of connecting portion 70 is without being limited thereto.Optionally, connecting portion 70 is arranged on tubular structure
Towards between the end face of second joint 11 and the end face of the separate second joint 11 of tubular structure.
As shown in Fig. 2, the radially extending along tubular structure of connecting portion 70, and formed between connecting portion 70 and location structure 40
The notch being adapted with the shape of hole wall of the mounting hole 111 of second joint 11.In this way, above-mentioned setting causes the fixed dress after assembling
20 are put with the structural stability of second joint 11 more preferably, the structure for the robot for being also is compacter, and then improves robot
Structural stability so that the appearance of robot is more beautiful.
In the present embodiment, connecting portion 70 is connection ring.Specifically, connecting portion 70 is cyclic structure, is set in cyclic structure
Multiple through holes are equipped with, multiple connecting holes are correspondingly provided on second joint 11, multiple connecting holes are corresponded with multiple through holes
Ground is set.Fastener is multiple, and is set correspondingly with connecting hole and through hole.Multiple fasteners are tightened in after passing through through hole
On the connecting hole of second joint 11, so that fixing device 20 and the connection of second joint 11 are more firm.
In the accompanying drawings in unshowned other embodiment, connecting portion is multiple connection bumps, and multiple connection bump edges
Tubular structure is provided at circumferentially spaced.Specifically, through hole is provided in each connection bump, is correspondingly provided on second joint more
A connecting hole, multiple connecting holes are set correspondingly with multiple through holes.Fastener is multiple, and with connecting hole and through hole one by one
It is arranged in correspondence with.Multiple fasteners are tightened in after passing through through hole on the connecting hole of second joint, so that fixing device and the
The connection in two joints 11 is more firm.
It should be noted that the structure of connecting portion 70, number are without being limited thereto.Optionally, connecting portion 70 includes connection bump
And connection is lonely, connection bump is with being connected arc being provided at circumferentially spaced around fixing device 20.
As shown in Fig. 2, fixed mechanism further includes sealing element 80.Wherein, sealing element 80 is arranged on driving member 30 and is filled with fixed
To seal through hole 21 between putting 20.In this way, above-mentioned setting can prevent the impurity such as extraneous dust from entering to peace by through hole 21
It fills in hole 111, prevents the impurity such as dust from entering in drive mechanism 50 and influencing the movement of driving member 30 and drive mechanism 50, into
And improve the operational reliability of robot.
Optionally, sealing element 80 is sealing ring.Sealing ring is standard component, can reduce the processing cost of robot.
In the present embodiment, fixing device 20 is done into radial positioning, Ran Houyong by location structure 40 and second joint 11
Fastener is directly locked on second joint 11, makes driving member, bearing assembly, fixing device 20, second joint 11
This four association parts form a closed loop configuration, are effective against the adverse effect of the axially position generation to driving member 30
(such as the first joint deforms upon).
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
Fixing device is directly connected with being provided with the second joint of drive mechanism, the biography passed through from the through hole of fixing device
Moving part is connected with drive mechanism.
It is first fastenedly connected with the first joint in the prior art with second joint, fixing device is connected again with the first joint, most
Afterwards so that driving member through after the through hole in fixing device compared with the drive mechanism in second joint is sequentially connected, in the application
Fixing device be directly connected with second joint, driving member can be sequentially connected with drive mechanism through through hole, so prevent by
In the rigging error of the first joint and second joint the fit clearance of driving member and drive mechanism is caused to be difficult to control, also can
Prevent due to the first joint deforms and so that the link position of the first joint and fixing device changes, cause through logical
The driving member in the hole and fit-up gap of drive mechanism is excessive or transmission stability too small and that influence driving member and drive mechanism, flat
It is pliable.In this way, above-mentioned setting so that the internal drive action of robot in the application is more steady, robot is reduced due to passing
Dynamic unstable caused noise, vibration improve continuity of movement, the stability of robot, improve the quality of production of robot.
Obviously, above-mentioned described embodiment is only the embodiment of the utility model part rather than the reality of whole
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained should all belong to the scope of the utility model protection.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, indicate existing characteristics, step, work, device, component and/or combination thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, without being used to describe specific order or precedence.It should be appreciated that it so uses
Data can exchange in the appropriate case, so that presently filed embodiment described herein can be with except illustrating herein
Or the order beyond those of description is implemented.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modifications, equivalent replacements and improvements are made should be included within the scope of protection of this utility model.
Claims (11)
1. a kind of robot, which is characterized in that including：
First joint has inner cavity；
In the inner cavity, drive mechanism (50) is provided in the second joint (11) for second joint (11)；
Fixed mechanism, including fixing device (20), the fixing device (20) is fastenedly connected with the second joint (11), described
Fixing device (20) has the through hole (21) passed through for driving member (30), so that the driving member (30) and the drive mechanism
(50) it is sequentially connected.
2. robot according to claim 1, which is characterized in that the fixed mechanism further includes：
Location structure (40) is arranged in the fixing device (20), and the location structure (40) can be with the second joint
(11) counter stopper.
3. robot according to claim 2, which is characterized in that the location structure (40) fills to be arranged on the fixation
The limit protrusion on (20) is put, the second joint (11) has mounting hole (111), and the drive mechanism (50) is located at the peace
It fills in hole (111), and at least a portion of the limit protrusion is connected on the hole wall of the mounting hole (111) to position.
4. robot according to claim 3, which is characterized in that the limit protrusion be bulge loop, the outer diameter of the bulge loop
Equal to or more than the aperture of the mounting hole (111).
5. robot according to claim 3, which is characterized in that the limit protrusion is multiple, multiple limit convexes
The hole wall along the circumferentially disposed of the mounting hole (111) and with the mounting hole (111) is played to contact.
6. the robot according to any one of claim 2 to 5, which is characterized in that the fixing device (20) is tubular
Structure forms to accommodate the accommodating chamber (22) of bearing assembly (60) between the tubular structure and the second joint (11),
And the end face away from the second joint (11) of the tubular structure has the through hole (21), the tubular structure
The location structure (40) is provided on towards the end face of the second joint (11).
7. robot according to claim 6, which is characterized in that be provided with connecting portion on the barrel of the tubular structure
(70), and between the connecting portion (70) and the end face away from the second joint (11) of the tubular structure there is pre- spacing
Be fixed on after passing through the connecting portion (70) from, fastener on the second joint (11), by the fixing device (20) with
Second joint (11) connection.
8. robot according to claim 7, which is characterized in that radial direction of the connecting portion (70) along the tubular structure
Extension, and the mounting hole with the second joint (11) is formed between the connecting portion (70) and the location structure (40)
(111) notch that shape of hole wall is adapted.
9. robot according to claim 7, which is characterized in that the connecting portion (70) is connection ring.
10. robot according to claim 7, which is characterized in that the connecting portion (70) is multiple connection bumps, and more
A connection bump being provided at circumferentially spaced along the tubular structure.
11. robot according to any one of claim 1 to 5, which is characterized in that the fixed mechanism further includes：
Sealing element (80), the sealing element (80) are arranged between the driving member (30) and the fixing device (20) to seal
The through hole (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721528089.4U CN207415355U (en) | 2017-11-15 | 2017-11-15 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721528089.4U CN207415355U (en) | 2017-11-15 | 2017-11-15 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415355U true CN207415355U (en) | 2018-05-29 |
Family
ID=62306285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721528089.4U Active CN207415355U (en) | 2017-11-15 | 2017-11-15 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207415355U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844124A (en) * | 2020-07-27 | 2020-10-30 | 珠海格力智能装备有限公司 | Mechanical arm and robot with same |
-
2017
- 2017-11-15 CN CN201721528089.4U patent/CN207415355U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844124A (en) * | 2020-07-27 | 2020-10-30 | 珠海格力智能装备有限公司 | Mechanical arm and robot with same |
| CN111844124B (en) * | 2020-07-27 | 2022-05-27 | 珠海格力智能装备有限公司 | Mechanical arm and robot with same |
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