CN207480631U - A kind of mechanical joint structure - Google Patents
A kind of mechanical joint structure Download PDFInfo
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- CN207480631U CN207480631U CN201721119827.XU CN201721119827U CN207480631U CN 207480631 U CN207480631 U CN 207480631U CN 201721119827 U CN201721119827 U CN 201721119827U CN 207480631 U CN207480631 U CN 207480631U
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- China
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- armed lever
- installation position
- mounting flange
- mechanical joint
- speed reducer
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Abstract
The utility model provides a kind of mechanical joint structure, and including the first armed lever, the second armed lever and transmission mechanism, the first armed lever is equipped with the first installation position, and the second armed lever is equipped with the second installation position, and transmission mechanism is installed on simultaneously on the first installation position and the second installation position；Transmission mechanism is connect using servo motor with the direct-connected form of harmonic wave speed reducing machine integral type, it is connected compared to the synchronizing wheel that similar product uses with synchronous band connection or gear drive, improve the rigidity, precision and stability of transmission mechanism, trembling, which can be eliminated, simultaneously causes robot body to lead to the problem of resonance, and the entrance of metallic particles can be avoided, improve the robot service life.
Description
Technical field
The utility model is related to robot field more particularly to a kind of mechanical joint structures.
Background technology
Mechanical arm is that robot relies the executing agency of the task of fulfiling assignment, also referred to as operator or operation arm, can
With the operation that executive control system is specified in determining environment.The mechanical arm of typical industry robot is generally by hand (end
Hold actuator), wrist, arm, waist and pedestal form.Mechanical arm is general to have 6 certainly mostly using jointed robot structure
By spending, wherein 3 are used for determining the positions of end effector, other 3 direction (appearances for being then used for determining end executive device
Gesture).End executive device on second armed lever can need to change the power tools such as welding gun, sucker, spanner into according to operation.Tradition
The joint structure of mechanical arm is to be connected to transmission mechanism with synchronous belt using synchronizing wheel or directly connected using gear drive
It connects, the transmission accuracy of the above two kind of drive and inefficient, it is limited to accept ability, and when operating is also easy to produce trembling, causes machine
Tool arm leads to the problem of resonance, and easily enters metallic particles, reduces the service life of mechanical arm.
Invention content
In order to solve the above technical problems, the utility model provides a kind of mechanical joint structure, the structure precision is high, stability
Good, transmission efficiency, long working life.
Based on this, the utility model provides a kind of mechanical joint structure, including the first armed lever, the second armed lever and transmission
Mechanism, first armed lever are equipped with the first installation cavity, and the end of first armed lever is equipped with and the described first installation cavity phase
First opening of connection, second armed lever are equipped with the second installation cavity, and the end of second armed lever is equipped with and described second
The second opening that installation cavity is connected, first opening and the described second opening face, first armed lever are equipped with first
Installation position, second armed lever are equipped with the second installation position, and the transmission mechanism is installed on first installation position and described simultaneously
On second installation position.
Preferably, if first installation position is equipped with mounting flange and is distributed in the mounting flange edge
Dry oblique angle reinforcing rib, the mounting flange are located at the center of the described first opening, and the mounting flange is strengthened by the oblique angle
Muscle is connected with first armed lever.
Preferably, each oblique angle reinforcing rib is uniformly distributed along the edge of the mounting flange, the Method for Installation
The blue gap between the edge of the described first opening is separated out several threading holes by each oblique angle reinforcing rib.
Preferably, the transmission mechanism includes motor, mounting flange, output flange and harmonic speed reducer, institute
It states motor and the harmonic speed reducer is respectively arranged on the both sides of the mounting flange, the housing of the motor and the mounting flange
Clamping, the output shaft of the motor pass through the through-hole of the mounting flange to be connected with the first end of the harmonic speed reducer, institute
It states harmonic speed reducer by fastener with the mounting flange to be connected, the output flange is set on the of the harmonic speed reducer
Two ends.
Preferably, the centre of the output flange is equipped with the observation panel for leading to the harmonic speed reducer, the sight
The oiling flange with oil filler point is equipped at Cha Kou.
Preferably, the mounting flange is installed by fastener and first installation position cooperation, and described second
Installation position is set in the second installation cavity body, and the output flange is installed by fastener and second installation position cooperation.
Preferably, the harmonic speed reducer includes firm gear, flexbile gear and wave producer, and the firm gear passes through fastening
Part is connected with the mounting flange, and the flexbile gear is connected by fastener with the output flange, and the wave producer leads to
Limiting gland is crossed to be installed on the output shaft of the motor.
Preferably, the motor is absolute value servo motor.
Preferably, first armed lever is equipped with the first pin hole, and second armed lever is equipped with the second pin hole, when
When first pin hole and the second pin hole face, first armed lever or second armed lever are adjusted to zero-bit.
Implement the utility model embodiment, have the advantages that：
A kind of mechanical joint structure provided by the utility model, compared with the prior art, with structure precision height, stability
The advantages of good, transmission efficiency, long working life.Mechanical joint structure provided by the utility model includes the first armed lever, second
Armed lever and transmission mechanism, the first armed lever are equipped with the first installation position, and the second armed lever is equipped with the second installation position, and transmission mechanism is pacified simultaneously
Loaded on the first installation position and the second installation position；Transmission mechanism is connected using servo motor and the direct-connected form of harmonic wave speed reducing machine integral type
Connect, the synchronizing wheel and the synchronous band connection that are used compared to similar product or gear drive connection, improve transmission mechanism rigidity,
Precision and stability, while can eliminate trembling causes robot body to lead to the problem of resonance, and can avoid metallic particles
Into improving the robot service life.
Description of the drawings
Fig. 1 is the structure diagram of first armed lever of the utility model embodiment.
Fig. 2 is the structure diagram of second armed lever of the utility model embodiment.
Fig. 3 is the schematic diagram of the joint structure of the utility model embodiment.
Reference sign：
1st, the first armed lever, the 11, first installation position, 111, mounting flange, 112, oblique angle reinforcing rib, 12, threading hole, 13,
One pin hole, the 2, second armed lever, the 21, second installation position, the 22, second pin hole, 3, motor, 31, output shaft, 4, mounting flange,
5th, output flange, 6, harmonic speed reducer, 6a, firm gear, 6b, flexbile gear, 6c, wave producer, 7, oiling flange, 8, limiting gland.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts
The all other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 3, the utility model embodiment provides a kind of mechanical joint structure, including the first armed lever 1, the
Two armed levers 2 and transmission mechanism, the first armed lever 1 are internally provided with the first installation cavity, and the end of the first armed lever 1 is equipped with the first installation
First opening of cavity, the second armed lever 2 are internally provided with the second installation cavity, and the end of the second armed lever 2 is equipped with the second installation cavity
Second opening of body, the first opening and second are open as equirotal circular open, the two face.First installation position 11 is equipped with
Mounting flange 111 and two oblique angle reinforcing ribs 112 for being distributed in 111 edge of mounting flange, mounting flange 111 are opened positioned at first
Mouthful center, two oblique angle reinforcing ribs 112 with the symmetrical setting of the center line of mounting flange 111, mounting flange 111 by this tiltedly
Angle reinforcing rib 112 is connected with the first armed lever 1, and the gap between the edge that mounting flange 111 and first is open is oblique by two
Angle reinforcing rib 112 is separated out two threading holes 12；Second armed lever 2 is equipped in the second installation cavity body pacifies for coordinating with flange part
The center line of second installation position 21 of dress, the second installation position 21 and the first installation position 11 overlaps.Transmission mechanism is installed on simultaneously
On one installation position 11 and the second installation position 21.
Further, the openend of the first armed lever 1 be equipped with the first pin hole 13, it is corresponding, the second armed lever 2 its with
The joint of first armed lever 1 is equipped with the second pin hole 22.If the first pin hole 13 represents initial zero position, the second armed lever 2 is rotated,
When the second pin hole 22 and the first 13 face of pin hole, the second armed lever 2 is adjusted to zero-bit；If the second pin hole 22 represents initially
Zero-bit then rotates the first armed lever 1, and when the first pin hole 13 and the second 22 face of pin hole, the first armed lever 2 is adjusted to zero-bit.
Using the pin hole of pedestal as zero-bit before robot work, each section of armed lever is according to said method adjusted to zero-bit successively, it can be accurate
The operational precision of robot is improved in location coordinate position.In addition, to the first pin hole 13 of face and in transportational process
Two pin holes 22 be inserted into positioning pin (not shown), can solid mechanical arm position, prevent mechanical arm from arbitrarily swinging to other people
Or itself is damaged.
As shown in figure 3, above-mentioned main drive gear includes motor 3, mounting flange 4, output flange 5 and harmonic speed reducer 6,
Motor 3 and harmonic speed reducer 6 are respectively arranged on the both sides of mounting flange 4, and housing and the mounting flange 4 of motor 3 are clamped, motor 3
Output shaft 31 passes through the through-hole of mounting flange 4 to be connected with the first end of harmonic speed reducer 6, and harmonic speed reducer 6 passes through fastener
It is connected with mounting flange 4, the center line of the rotation centerline of motor 3, the center line of harmonic speed reducer 6 and mounting flange 4
Three lines overlap, and output flange 5 is set on the second end of harmonic speed reducer 6.Connect compared to the synchronizing wheel that similar product uses and synchronous belt
It connects or gear drive connection, motor 3 is connected with the direct-connected form of the integral type of harmonic speed reducer 6, improve the firm of transmission mechanism
Property, precision and stability, while can eliminate trembling causes robot body to lead to the problem of resonance, and can avoid metallic particles
Entrance, improve the robot service life.
Further, the centre of output flange 5 is additionally provided with the observation panel for leading to harmonic speed reducer 6, can by the observation panel
To check the lubricating oil service condition in harmonic speed reducer 6, the oiling flange 7 with oil filler point is equipped at observation panel, it is necessary
When can lubricating oil be added to harmonic speed reducer 6 by the oil filler point.
Further, above-mentioned harmonic speed reducer 6 includes firm gear 6a, flexbile gear 6b and wave producer 6c, and firm gear 6a is
Rigid gear with ring gear positioned at the outermost of harmonic speed reducer 6, is connected with mounting flange 4 by fastener；Wave is sent out
Raw device 6c is the oval gear with external toothing, and positioned at the center of harmonic speed reducer 6, electricity is installed on by limiting gland 8
On the output shaft 31 of machine 3；Flexbile gear 6b is the flexible gear with external toothing, and defeated between wave producer 6c and firm gear 6a
Go out flange 5 by fastener to be connected.The center line of firm gear 6a, flexbile gear 6b and wave producer 6c overlap, as harmonic reduction
The center line of device 6.The diameter of flexbile gear 6b is slightly less than the long axis length of wave producer 6c, when wave producer 6c is packed into flexbile gear 6b inner circles
When, flexbile gear 6b is forced to generate flexible deformation and is in ellipticity, the flexbile gear 6b gear teeth are inserted into the wheel tooth socket of firm gear 6a at long axis, are become
Fully engaged state, and the flexbile gear 6b gear teeth do not contact completely with the firm gear 6a gear teeth at its short axle, in disengaged condition, by being engaged to
Then in nibbling out or engaging-in state between the process of disengagement.When motor 3 drives wave producer 6c continuous rotations, flexbile gear 6b is forced
Constantly be deformed, make the two-wheeled gear teeth carry out it is engaging-in, engage, nibble out, disengage during constantly change respective work shape
State produces so-called side set movement, it is achieved thereby that the movement of wave producer 6c and flexbile gear 6b is transmitted, changes flexbile gear 6b and turns
Speed, increases torque, then by 5 output speed of output flange being connect with flexbile gear 6b and big torque, be transferred to angular contact bearing and
Armed lever completes the transmission of entire movement and torque.Multiple tooth due to harmonic speed reducer 6 nibbles simultaneously in two 180 ° of symmetric positions
It closes, therefore the influence of gear pitch error and accumulated pitch error to running accuracy is more average, can obtain high position essence
Degree and running accuracy.
As shown in figure 3, fastener and the cooperation of the first installation position 11 that transmission mechanism is equipped with by mounting flange 4 are installed,
The fastener being equipped with by output flange 5 and the cooperation of the second installation position 21 are installed, wherein, the center line of mounting flange 4 and the
The center line of one installation position 11 overlaps, and the center line of output flange 5 is overlapped with the center line of the second installation position 21.Motor 3 as a result,
Rotation centerline, harmonic speed reducer 6 center line and output flange 5 three line of center line overlap, it is ensured that motor 3,
The concentricity of harmonic speed reducer 6 and output flange 5 without generating lobbing, improves running precision and the use of three
Service life.
It should be pointed out that in the present embodiment, motor uses the multi-turn absolute value servo motor of resolution ratio 21, feature
It is that precision is high, (peak speed is up to 6500r/min), torque are big, light-weight soon for speed, motor data can be recorded automatically, without
The problem of worrying loss of data after powering off；In addition, screw can be used in above-mentioned fastener.
To sum up, the utility model provides a kind of mechanical joint structure, including the first armed lever, the second armed lever and driver
Structure, the first armed lever are equipped with the first installation position, and the second armed lever is equipped with the second installation position, and transmission mechanism is installed on the first installation position simultaneously
On the second installation position；Transmission mechanism is connect using servo motor with the direct-connected form of harmonic wave speed reducing machine integral type, compared to similar production
The synchronizing wheel that product use is connected with synchronous band connection or gear drive, improves the rigidity, precision and stabilization of transmission mechanism
Property, while can eliminate trembling causes robot body to lead to the problem of resonance, and can avoid the entrance of metallic particles, improves machine
Device life insurance is ordered.
It should be understood that various information, but these information are described using term " first ", " second " etc. in the present invention
These terms are should not necessarily be limited by, these terms are only used for same type of information being distinguished from each other out.For example, not departing from the present invention
In the case of range, " first " information can also be referred to as " second " information, similar, and " second " information can also be referred to as
" first " information.
The above is the preferred embodiment of the utility model, it is noted that for the ordinary skill of the art
For personnel, under the premise of the utility model principle is not departed from, several improvement and deformation can also be made, these improve and become
Shape is also considered as the scope of protection of the utility model.
Claims (9)
1. a kind of mechanical joint structure, which is characterized in that including the first armed lever, the second armed lever and transmission mechanism, described first
Armed lever is equipped with the first installation cavity, and the end of first armed lever is equipped with first to be connected with the described first installation cavity and opens
Mouthful, second armed lever is equipped with the second installation cavity, and the end of second armed lever is equipped with to be connected with the described second installation cavity
Logical second opening, first opening and the described second opening face, first armed lever are equipped with the first installation position, and described the
Two armed levers are equipped with the second installation position, and the transmission mechanism is installed on simultaneously on first installation position and second installation position.
2. mechanical joint structure according to claim 1, which is characterized in that first installation position be equipped with mounting flange with
And several oblique angle reinforcing ribs at the mounting flange edge are distributed in, the mounting flange is located at the center of the described first opening,
The mounting flange is connected by the oblique angle reinforcing rib with first armed lever.
3. mechanical joint structure according to claim 2, which is characterized in that each oblique angle reinforcing rib is along the Method for Installation
Blue edge is uniformly distributed, and the gap between the edge of the mounting flange and first opening is strengthened by each oblique angle
Muscle is separated out several threading holes.
4. mechanical joint structure according to claim 2, which is characterized in that the transmission mechanism includes motor, fixation
Blue, output flange and harmonic speed reducer, the motor and the harmonic speed reducer are respectively arranged on the both sides of the mounting flange,
The housing of the motor and the mounting flange are clamped, the output shaft of the motor pass through the through-hole of the mounting flange with it is described
The first end of harmonic speed reducer is connected, and the harmonic speed reducer is connected by fastener with the mounting flange, described defeated
Go out the second end that flange is set on the harmonic speed reducer.
5. mechanical joint structure according to claim 4, which is characterized in that the centre of the output flange, which is equipped with, leads to institute
The observation panel of harmonic speed reducer is stated, the oiling flange with oil filler point is equipped at the observation panel.
6. mechanical joint structure according to claim 4, which is characterized in that the mounting flange by fastener with it is described
The cooperation installation of first installation position, second installation position are set in the second installation cavity body, and the output flange passes through fastening
Part is installed with second installation position cooperation.
7. mechanical joint structure according to claim 4, which is characterized in that the harmonic speed reducer includes firm gear, flexbile gear
And wave producer, the firm gear are connected by fastener with the mounting flange, the flexbile gear by fastener with it is described
Output flange is connected, and the wave producer is installed on by limiting gland on the output shaft of the motor.
8. according to claim 4-7 any one of them mechanical joint structures, which is characterized in that the motor is absolute value servo
Motor.
9. according to claim 1-7 any one of them mechanical joint structures, which is characterized in that first armed lever is equipped with first
Pin hole, second armed lever is equipped with the second pin hole, described when first pin hole and the second pin hole face
First armed lever or second armed lever are adjusted to zero-bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119827.XU CN207480631U (en) | 2017-08-31 | 2017-08-31 | A kind of mechanical joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119827.XU CN207480631U (en) | 2017-08-31 | 2017-08-31 | A kind of mechanical joint structure |
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| Publication Number | Publication Date |
|---|---|
| CN207480631U true CN207480631U (en) | 2018-06-12 |
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ID=62481239
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721119827.XU Active CN207480631U (en) | 2017-08-31 | 2017-08-31 | A kind of mechanical joint structure |
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| CN (1) | CN207480631U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000808A (en) * | 2019-04-28 | 2019-07-12 | 深圳市汇川技术股份有限公司 | The assembly method of robot joint structure and robot joint structure |
-
2017
- 2017-08-31 CN CN201721119827.XU patent/CN207480631U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000808A (en) * | 2019-04-28 | 2019-07-12 | 深圳市汇川技术股份有限公司 | The assembly method of robot joint structure and robot joint structure |
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