CN207454719U - A kind of retarder for robot - Google Patents
A kind of retarder for robot Download PDFInfo
- Publication number
- CN207454719U CN207454719U CN201721606079.8U CN201721606079U CN207454719U CN 207454719 U CN207454719 U CN 207454719U CN 201721606079 U CN201721606079 U CN 201721606079U CN 207454719 U CN207454719 U CN 207454719U
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- gear
- housing
- robot
- retarder
- connecting seat
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Abstract
The utility model discloses a kind of retarders for robot to include：Housing is removably connected with matched blind flange thereon, is offered on housing for the motor shaft input hole being inserted into and the delivery outlet being connected with executing agency, there is the first connecting seat in input hole, be connected with input gear below, there is the second connecting seat in delivery outlet, behind be connected with output gear；Intermediate gear, its engagement is connected between the input gear and output gear, intermediate gear includes the gear wheel and pinion gear of coaxial arrangement, input gear is meshed with pinion gear, output gear is meshed with gear wheel, and intermediate gear is fixedly connected in housing, and the utility model can be in robot motion, even if axis transmission shaft generates the angle of lasting variation with retarder, decelerating effect also can be normally played.
Description
Technical field
The utility model belongs to robot field, and in particular to the retarder field of robot.
Background technology
The input shaft and output shaft of existing major part retarder all only operate on the same line or in vertical direction, and
Modern industry robot is required for being gripped, the action that pull etc. flexibly operates, then on the rotary joint of robot just
Retarder cannot be installed, can only be installed in joint upper end or lower end, and the installation of excessive retarder actually can in a disguised form increase
Error makes robot when execution acts the phenomenon that generation action inaccuracy, and excessive retarder also improves robot
Production cost, it is therefore desirable to a kind of retarder that can solve to carry out joint action robot.
Utility model content
One purpose of the utility model is to solve at least the above and/or defect, and provides and at least will be described later
The advantages of.
In order to realize these purposes and further advantage according to the present utility model, a kind of deceleration for robot is provided
Device, including：
Housing is connected with matched blind flange thereon, is offered on the housing for the defeated of motor shaft insertion
Enter hole and the delivery outlet being connected with executing agency；
The first connecting seat is equipped in the input hole, motor shaft, first connection are can be inserted into first connecting seat
The seat back side is connected with one end of the first universal shaft, and the other end of first universal shaft is fixedly connected with input gear, described
Input gear is fixedly connected in housing；
The second connecting seat is equipped in the delivery outlet, turning for robot actuating mechanism is can be inserted into second connecting seat
Axis, the second connecting seat back side are connected with one end of the second universal shaft, the other end and output gear of second universal shaft
Wheel is fixedly connected, and the output gear is fixedly connected in housing；
Intermediate gear, engagement are connected between the input gear and output gear, and the intermediate gear includes coaxial
The gear wheel and pinion gear of setting, the input gear are meshed with pinion gear, and the output gear is meshed with gear wheel, institute
Intermediate gear is stated to be fixedly connected in housing.
Preferably, wherein, first universal shaft includes：The internal segment being fixedly connected with first connecting seat, it is described
Internal segment is connect in spherical, and spherical surface is uniformly provided with the first groove, and ball is equipped in first groove；With the input gear
The acromere being connected, the acromere are spherical cavity, are set on the internal segment, are equipped with and the first sliding groove phase in the spherical cavity
Matched second sliding slot, the ball between the first sliding groove and the second sliding slot are freely slidable.
Preferably, wherein, the housing sidewall is equipped with radiating fin.
Preferably, wherein, the blind flange is equipped with radiator fan.
Preferably, wherein, heat emission hole is offered on the housing.
Preferably, wherein, the detachable connection of the housing and blind flange is：The housing and blind flange pass through
Screw is connected.
Preferably, wherein, the diameter of the input gear and the diameter ratio of output gear are：1 to 4,1 to 3 or 1 to 2.
The utility model includes at least following advantageous effect：Since the input hole and delivery outlet of this robot retarder are all provided with
Have a universal shaft, therefore even if robot when doing some and can influence to be driven the movement of direction of principal axis, this robot retarder also can be just
Normal operation, then need of work can be met by just only needing one to slow down on joint of robot motor point, and without again
One retarder is respectively installed up and down in articulation point.
Part is illustrated to embody by the further advantage, target and feature of the utility model by following, and part will also pass through
Research and practice to the utility model and be understood by the person skilled in the art.
Description of the drawings：
Fig. 1 is the retarder overall schematic provided by the utility model for robot；
Fig. 2 is the retarder internal structure schematic diagram provided by the utility model for robot；
Fig. 3 is the retarder detail view provided by the utility model for robot；
Fig. 4 is the retarder instance graph provided by the utility model for robot；
Fig. 5 is the retarder schematic rear view provided by the utility model for robot；
Fig. 6 is the retarder operating diagram provided by the utility model for robot；.
Specific embodiment：
The utility model is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or its combination.
A kind of retarder for robot provided by the utility model as shown in Figs. 1-3, including：
Housing 1 is removably connected with matched blind flange 2, is offered on the housing 1 for motor shaft thereon
The input hole 3 of insertion and the delivery outlet 4 being connected with executing agency；
The first connecting seat 301 is equipped in the input hole 3, can be inserted into motor shaft in first connecting seat 301, described the
301 back side of a connecting seat is connected with one end of the first universal shaft 302, the other end and the input tooth of first universal shaft 302
Wheel 303 is fixedly connected, and the input gear 303 is fixedly connected in housing 1；
The second connecting seat 401 is equipped in the delivery outlet 4, can be inserted into robot in second connecting seat 401 performs machine
The shaft of structure, 401 back side of the second connecting seat are connected with one end of the second universal shaft 402, second universal shaft 402
The other end is fixedly connected with output gear 403, and the output gear 403 is fixedly connected in housing 1；
Intermediate gear 5, engagement are connected between the input gear 303 and output gear 403, the intermediate gear 5
Gear wheel 501 and pinion gear 502, the input gear 303 including coaxial arrangement are meshed with pinion gear 502, the output
Gear 403 is meshed with gear wheel 501, and the intermediate gear 5 is fixedly connected in housing；
The operation principle of retarder：By motor axis connection into the first connecting seat 301, then the shaft of executing agency is connected again
Entering in the second connecting seat 401, motor shaft rotates at this time, and the first connecting seat 301 is also rotated under the drive of motor shaft, due to
Input gear 303 is connected with the first connecting seat 301 by universal shaft, therefore input gear 303 also begins to rotate, with inputting tooth
Wheel 303 thinks that the pinion gear 502 of engagement connection rotates, because gear wheel 501 is coaxial arrangement with pinion gear 502, they have same
The angular speed of sample, then gear wheel 501 angular speed is transferred on output gear 403 again, output gear 403 passes through the 20000th again
The second connecting seat 401 is driven to axis 402, is finally run slowly to executing agency.Due to the first connecting seat 301 and input tooth
Wheel 303 between by the first universal shaft 302 connect and the second connecting seat 401 and output gear 403 between it is universal by second
Axis 402 connects, even if the action of robot makes the angle between motor shaft and retarder constantly change, retarder also can be transported normally
Row.
In another technical solution, as shown in Figure 2,3, first universal shaft 302 includes：With first connecting seat
301 internal segments 311 being fixedly connected, the internal segment 311 are connect in spherical, and spherical surface is uniformly provided with the first groove 312, and described
Ball 313 is equipped in one groove 312；The acromere 315 being connected with the input gear 303, the acromere 315 are spherical cavity,
It is set on the internal segment 311, is equipped with the second sliding slot 314 to match with the first sliding groove 312 in the spherical cavity, and described the
Ball 315 between one sliding slot 312 and the second sliding slot 314 is freely slidable, when internal segment 311 rotates, the rolling on the first groove 312
Pearl 313 also rotates, and since 313 half of ball is in the first sliding groove 312, the other half is in the second sliding slot 314, therefore internal segment 311
During rotation, acromere 315 also follows rotation, only illustrates 302 structure of the first universal shaft herein, the second universal shaft 402, which is also felt, to be had
Similar structure even if the angle between the first connecting seat 301 and input gear 303 changes always, will not influence between the two
Transmission.Such mode is a kind of preferable example, but not limited to this, suitably it can be replaced and/or be repaiied as needed
Change.
In another technical solution, as shown in figure 4,1 side wall of the housing is equipped with radiating fin 11, reducer gear
Between friction inherently generate heat, heat can influence the using effect of speed reducer too much, therefore add radiating fin 11 and help
Help heat dissipation.Such mode is a kind of preferable example, but not limited to this, suitably it can be replaced and/or be repaiied as needed
Change.
In another technical solution, as shown in figure 5, the blind flange 2 is equipped with radiator fan 21.Such mode is
A kind of preferable example, but not limited to this, it can carry out suitably replacing and/or changing as needed.
In another technical solution, as shown in Figure 1, offering heat emission hole 12 on the housing 1.Such mode is one
The preferable example of kind, but not limited to this, it can carry out suitably replacing and/or changing as needed.
In another technical solution, as shown in figure 5, the detachable connection of the housing 1 and blind flange 2 is：Institute
Housing is stated with blind flange by screw 205 to be connected.Such mode is a kind of preferable example, but not limited to this, it can root
It suitably replaces and/or changes according to progress is needed.
In another technical solution, the diameter of the input gear 303 is with the diameter ratio of output gear 403：1 to 4,
1 to 3 or 1 to 2, be merely illustrative herein, but be not limited only to this three kinds of ratios, can carry out suitably replacing as needed and/
Or modification.
Number of devices and treatment scale described herein are the explanations for simplifying the utility model.To the utility model
The application of the retarder for robot, modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiment of the utility model is disclosed as above, it is not restricted in specification and embodiment
Listed utilization, it can be applied to the field of various suitable the utility model completely, for those skilled in the art,
Other modification is easily achieved, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
Specific details is not limited to new and shown here as the legend with description.
Claims (7)
1. a kind of retarder for robot, which is characterized in that including：
Housing is removably connected with matched blind flange thereon, is offered on the housing for motor shaft insertion
Input hole and the delivery outlet being connected with executing agency；
The first connecting seat is equipped in the input hole, motor shaft, the first connecting seat back of the body are can be inserted into first connecting seat
Face is connected with one end of the first universal shaft, and the other end of first universal shaft is fixedly connected with input gear, the input
Gear is fixedly connected in housing；
The second connecting seat is equipped in the delivery outlet, the shaft of robot actuating mechanism, institute are can be inserted into second connecting seat
It states the second connecting seat back side with one end of the second universal shaft to be connected, the other end of second universal shaft is fixed with output gear
Connection, the output gear are fixedly connected in housing；
Intermediate gear, engagement are connected between the input gear and output gear, and the intermediate gear includes coaxial arrangement
Gear wheel and pinion gear, the input gear be meshed with pinion gear, the output gear is meshed with gear wheel, in described
Between gear be fixedly connected in housing.
2. the retarder of robot to be used for as described in claim 1, which is characterized in that first universal shaft includes：With institute
State the internal segment that the first connecting seat is fixedly connected, the internal segment is connect in spherical, and spherical surface is uniformly provided with the first groove, and described
Ball is equipped in one groove；The acromere being connected with the input gear, the acromere are spherical cavity, are set in the internal segment
On, the second sliding slot to match with the first sliding groove, the rolling between the first sliding groove and the second sliding slot are equipped in the spherical cavity
Pearl is freely slidable.
3. the retarder of robot to be used for as described in claim 1, which is characterized in that the housing sidewall is equipped with radiating fin
Piece.
4. the retarder of robot to be used for as described in claim 1, which is characterized in that the blind flange is equipped with radiation air
Fan.
5. the retarder of robot to be used for as described in claim 1, which is characterized in that offer heat emission hole on the housing.
6. be used for the retarder of robot as described in claim 1, which is characterized in that the housing and blind flange it is detachable
Connection mode is：The housing is connected with blind flange by screw.
7. the retarder of robot to be used for as described in claim 1, which is characterized in that the diameter of the input gear and output
The diameter ratio of gear is：1 to 4,1 to 3 or 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721606079.8U CN207454719U (en) | 2017-11-27 | 2017-11-27 | A kind of retarder for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721606079.8U CN207454719U (en) | 2017-11-27 | 2017-11-27 | A kind of retarder for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207454719U true CN207454719U (en) | 2018-06-05 |
Family
ID=62277305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721606079.8U Active CN207454719U (en) | 2017-11-27 | 2017-11-27 | A kind of retarder for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207454719U (en) |
-
2017
- 2017-11-27 CN CN201721606079.8U patent/CN207454719U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant |