CN207724343U - Hollow wire passing transmission structure and robot thereof - Google Patents
Hollow wire passing transmission structure and robot thereof Download PDFInfo
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- CN207724343U CN207724343U CN201721837589.6U CN201721837589U CN207724343U CN 207724343 U CN207724343 U CN 207724343U CN 201721837589 U CN201721837589 U CN 201721837589U CN 207724343 U CN207724343 U CN 207724343U
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- drive mechanism
- mounting disc
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims description 44
- 239000011159 matrix material Substances 0.000 claims description 6
- 210000000515 tooth Anatomy 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The utility model provides a line transmission structure is crossed to cavity, including mounting disc, drive arrangement, driving gear, driven gear, still including set up in will on the cross line passageway the mounting disc with driven gear connects's cross roller bearing, the line transmission is crossed to cavity still include with the bearing inner race is fixed in the mounting disc with incite somebody to action the bearing inner race is fixed in driven gear's installation component. The utility model provides a line transmission structure is crossed to cavity, adopted the cross roller bearing to replace traditional a pair of bearing can reduce whole cavity and cross the length of line transmission structure's part quantity and back shaft, the assembly parts have been reduced, make robot waist revolution mechanic brief more, the volume of transmission structure has been reduced, the rigidity of whole transmission structure has been improved, and it can be directly through the fix with screw to have add the assembly parts on this cross roller bearing, need not special erection equipment auxiliary installation, the assembly performance improves greatly.
Description
Technical field
The utility model is related to robotic technology fields, and line drive mechanism and its machine are crossed more particularly, to one kind is hollow
People.
Background technology
Robot waist tool there are one waist rotational structure, the waist rotational structure may be implemented robot upper part with
Lower part relatively rotates.And also need to be electrically connected between the upper and lower part of robot, it is necessary to rotate in robot waist
Electric connection contact chip is set at structure, but this connection can cause the electric connection structure at waist rotational structure complicated.Therefore
Need and vacated the channel of line with centre, but can realize the effect of rotation again, then have such as application No. is
Provided in 201621492082.7《Waist rotational structure and its robot》, but have in its waist rotational structure and pass
Cylinder and the structure of auxiliary stand and a pair of bearings are moved to coordinate the intermeshing of driving gear and driven gear to be driven.And it is a pair of
Bearing, since this has certain gap between bearing, works as driving tooth due to being arranged in the construction section and secondary segment of transmission cylinder
When taking turns to driven gear application active force, cylinder ontology will produce position offset in rotation process, influence the use of transmission cylinder.And
And in the structure, need specific customization transmission cylinder and auxiliary stand that can realize the mutual transmission process between two gears,
The whole volume for not only increasing robot waist rotational structure, also adds production cost and Product Assembly is complicated.
Invention content
Utility model aims to solve transmission parts in existing robot waist rotational structure more, production cost
The shortcomings that generation position deviates during high, assembly is complicated and transmission process provides and a kind of hollow crosses line drive mechanism.
The utility model solve its technical problem the technical solution adopted is that：One kind is hollow to cross line drive mechanism, including tool
Have passing channel mounting disc, positioned at the mounting disc bottom surface driving device, be set in the driving device with the drive
The driving gear of dynamic device rotation is located at the driven gear of the installation pan bottom with driving gear intermeshing, described
On driven gear have for circuit by through-hole, it is described it is hollow cross line drive mechanism further include being set to the passing channel
On the crossed roller bearing that connect the mounting disc with the driven gear, the crossed roller bearing include bearing outer ring,
Bearing inner race, the roller between the bearing outer ring and the bearing inner race, the hollow line transmission device of crossing further include
The bearing outer ring is fixed on the mounting disc and the bearing inner race is fixed on to the mounting assembly of the driven gear.
Further, the crossed roller bearing further includes the bone between the bearing outer ring and the bearing inner race
Frame oil sealing.
Specifically, be additionally provided on the bearing outer ring with the integrally formed the first mounting ring of the bearing outer ring, it is described
It is additionally provided on bearing inner race and the integrally formed the second mounting ring of the bearing inner race；In the first mounting ring have with it is described
The first threaded hole that mounting disc is fixedly connected, the mounting disc are equipped with third threaded hole corresponding with first threaded hole；
There is the second threaded hole being fixedly connected with the driven gear, the driven gear to be equipped with and institute in the second mounting ring
State corresponding 4th threaded hole of the second threaded hole.
Specifically, the mounting assembly includes the first screw and the general being fixed on the bearing outer ring in the mounting disc
The bearing inner race is fixed on the second screw on the driven gear.
Specifically, there is the driven gear annular body, the through-hole to be set to annular body center, the ring-type
There is the external tooth engaged with the driving gear on ontology outer circumference surface, the bearing is abutted in being additionally provided in the annular body
First positioning step of inner ring, first positioning step are equipped with the 4th threaded hole.
Further, the mounting assembly include flange for being fixed on the bearing outer ring in the mounting disc and
Bearing adapter for being fixed on the bearing inner race on the driven gear.
Specifically, the flange has annular installation sheet, is equipped in the annular installation sheet and is fixed on the flange
Connecting hole in the mounting disc is additionally provided with the first locating ring for abutting the bearing outer ring on the annular installation sheet,
The first clamping member for fixing the bearing outer ring is formed between the first locating ring and the mounting disc of the flange.
Specifically, the bearing adapter have annular matrix, in the lower surface of the annular matrix be equipped with it is described
The second locating ring that bearing inner race abuts, it is described driven equipped with the bearing adapter to be fixed in second locating ring
Mounting hole on gear is formed between the second locating ring and the driven gear of the bearing adapter for fixing the axis
Hold the second clamping piece of inner ring.
Further, the ratio between the number of teeth of the driven gear and the number of teeth of the driving gear are more than 1.
The utility model additionally provides a kind of robot, including above-mentioned hollow line drive mechanism excessively.
The beneficial effects of the utility model are：One kind provided by the utility model is hollow to cross line drive mechanism, due to
Roller in crossed roller bearing is arranged alternately, for bearing radial and axial load and tilting moment so that it can be with
Replace traditional a pair of bearings, while integral hollow can be reduced and cross the number of parts of line drive mechanism and the length of support shaft
Degree realizes the intermeshing between driving gear and driven gear, and production cost has been saved on the basis of ensureing the two engagement,
Reduce build-up member so that robot waist rotational structure is more brief, reduces the volume of drive mechanism, improves entire
The rigidity of drive mechanism, and crossed roller bearing provided by the utility model is used, during gear drive, due to handing over
Roller bearing itself is pitched without axial direction or radial clearance, even if after stress, outside there will not be shaking, and the crossed roller
Build-up member is additionally arranged on bearing directly to be fixed by screw, without special installation equipment auxiliary installation, assembly performance
It substantially improves.
Description of the drawings
Fig. 1 is the hollow complete section schematic diagram for crossing line drive mechanism that the first embodiment of the utility model provides；
Fig. 2 is the hollow explosive view for crossing line drive mechanism that the first embodiment of the utility model provides；
Fig. 3 is the structure chart for the crossed roller bearing that the first embodiment of the utility model provides；
Fig. 4 is the structure chart for the crossed roller bearing that the second embodiment of the utility model provides；
Fig. 5 is the hollow complete section schematic diagram for crossing line drive mechanism that the second embodiment of the utility model provides；
Fig. 6 is the hollow explosive view for crossing line drive mechanism that the second embodiment of the utility model provides；
In figure：100 (200)-are hollow to cross line drive mechanism
10- mounting disc 11- passing channel 12- third threaded holes
20- driving device 21- driving gear 22- driven gears
221- through-hole 222- external tooths the first positioning steps of 223-
The 5th threaded holes of the 4th threaded hole 225- of 224-
30 (50)-crossed roller bearing 301 (501)-bearing outer ring
302 (502)-bearing inner race 303 (503)-roller
41- the first screw the second screws of 42-
The 4th screws of 45- third screws 46-
43- flange 431- annular installation sheet the first locating rings of 432-.
433- connecting hole 443- mounting hole 304- outside framework oil seals
44- bearing adapter 441- annular matrix the second locating rings of 442-
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Referring to Fig. 1-3, the hollow line drive mechanism 100 excessively of one kind provided by the first embodiment of the utility model.It should
It is hollow cross line drive mechanism 100 include the mounting disc 10 with passing channel 11, positioned at 10 bottom of mounting disc driving device 20,
It is set in the driving gear 21 rotated with driving device 20 in driving device 20, is located at mounting disc with the intermeshing of driving gear 21
The driven gear 22 of 10 bottoms further includes being set to the friendship for being connected with each other mounting disc 10 and driven gear 22 on passing channel 11
Fork roller bearing 30 and the mounting assembly that crossed roller bearing 30 is connected to mounting disc 10 and driven gear 22.This practicality
In novel provided hollow line drive mechanism 100 excessively, the driving device 20 of 10 bottom of mounting disc setting can rotate, and pass through
The rotation of driving device 20 drives the driving gear 21 being located in driving device 20 to rotate, and driving gear 21 and driven gear 22
Intermeshing, to drive driven gear 22 to rotate.In the present embodiment, which is steering engine, and steering engine is as a kind of
The driver of position servo can be adapted for angle is needed constantly to change and be used in the control system that can keep, phase
It is driven compared with traditional common electric machine, rotation angle can be efficiently controlled.In the drive mechanism 100, either mounting disc
10 or driven gear 22 on be equipped with for circuit by passing channel 11 and through-hole 221.It is driven by the hollow line of crossing
Structure 100 can pass through the setting of the passing channel 11 and through-hole 221 so that conducting wire can be worn from the upper surface of mounting disc 10 to
Below mounting disc 10, and is crossing line while realizing the relative rotation between driving gear 21 and driven gear 22.Specifically,
Referring again to attached drawing 1-3, in the utility model first embodiment, in the hollow line drive mechanism excessively, due to crossed roller axis
The roller 303 held in 30 replaces arrangement in 90 °, for bearing radial and axial load and tilting moment so that in this reality
It applies hollow cross in line drive mechanism provided in example and a crossed roller bearing 30 may be implemented instead of two plain bearings
Setting.Exactly because the crossed roller bearing 30 in the present embodiment can replace traditional bearing, so crossed roller bearing
It is added, it is possible to reduce integral hollow crosses the number of parts of line drive mechanism and the length of support shaft so that hollow to cross line transmission
The parts of structure 100 are more brief, reduce the volume of drive mechanism entirety, improve the rigidity of entire drive mechanism, make
Driving gear 21 and driven gear 22 are obtained in transmission process, it is external without radial and axial gap, therefore in transmission process
Shaking is not had, improves the stability of entire hollow drive mechanism 100.
Further, referring to Fig. 3, in the first embodiment of the utility model, crossed roller bearing 30 includes bearing outer ring
301, bearing inner race 302, the roller 303 between bearing outer ring 301 and bearing inner race 302.The hollow line transmission device excessively
100 further include that bearing outer ring 301 is fixed on mounting disc 10 and bearing inner race 302 is fixed on to the installation group of driven gear 22
Part.Being fixedly connected for crossed roller bearing 30 may be implemented by the mounting assembly.In the present embodiment, the crossed roller bearing
30 further include the outside framework oil seal 304 between bearing outer ring 301 and bearing inner race 301.
Specifically, in the first embodiment, it is additionally provided on the bearing outer ring 301 integrally formed with bearing outer ring 301
The first mounting ring 3011 is additionally provided with and 302 integrally formed the second mounting ring 3021 of bearing inner race on bearing inner race 302；First
There is the first threaded hole 3012 being fixedly connected with mounting disc 10, mounting disc 10 to be equipped with and the first threaded hole in mounting ring 3011
3012 corresponding third threaded holes 12；There is the second threaded hole being fixedly connected with driven gear 22 in the second mounting ring 3021
3022, driven gear 22 is equipped with the 4th threaded hole 224 corresponding with the second threaded hole 3022.Mounting assembly includes will be outside bearing
Circle 301 is fixed on the first screw 41 and the second screw 42 being fixed on bearing inner race 302 on driven gear 22 in mounting disc 10.
Crossed roller bearing 30 in the first embodiment its own with mounting structure, can directly be fixed by screw, without special
The installation equipment auxiliary installation of door, substantially increases the installation assembly performance of entire hollow string-passing structure 100.Pass through crossed roller
The first mounting ring 3011 and the second mounting ring 3021 on the bearing outer ring 301 and bearing inner race 302 of bearing 30 can be directly real
Existing screw fixes the effect of inner ring outer ring.Without as traditional bearing, bearing inner race outer ring and support element interference fit need
Special installation equipment is wanted to assist installation.And in hollow line drive mechanism 100 excessively provided by the utility model, intersection rolling
It is to be coordinated using small―gap suture amount between sub- bearing 30 and mounting disc 10 and driven gear 22, without installing equipment auxiliary installation
In the case of, directly make to be screwed so that the hollow assembly for crossing line drive mechanism 100 of the present embodiment is simple, saves people
Work cost.
Further, referring again to Fig. 2, in the present embodiment, the mounting disc 10 is also useful on the circumference of passing channel 11
In the annular protrusion for fixing the crossed roller bearing 30, the outer ring 301 of crossed roller bearing 30 is abutted by the annular protrusion.And
And several third threaded holes 12 are equipped on the annular protrusion.The annular protrusion of mounting disc 10 is abutted by the first screw 41
In on the outer ring of crossed roller bearing 30 301 and being fixedly connected.And there is ring-type positioned at the driven gear 22 of 10 bottom of mounting disc
Ontology, have in annular body for circuit by through-hole 221, have on the outer circumference surface of annular body and driving gear 21
The external tooth 222 of engagement, in the first positioning step 223 for being additionally provided with abutting bearing inner race 302 in annular body, the first positioning step
223 are equipped with the 4th threaded hole 224.In the present embodiment, the first positioning step 223 on the driven gear 22 is handed over for abutting
The inner ring 302 of roller bearing 30 is pitched, and is provided with the 4th threaded hole 224 on the first positioning step 223, passes through the second screw 42
First positioning step 223 of driven gear 22 is connected on the inner ring 302 of crossed roller bearing 30 and is fixedly connected.
In the present embodiment, the ratio between the number of teeth of the driven gear 22 and the number of teeth of driving gear 21 are more than 1.That is driven gear
22 number of teeth is more than the number of teeth of driving gear 21.When one circle of rotation of driving gear 21, driven gear 22 not yet turns a full circle, this
Sample improves the transmission ratio of the application drive mechanism, can improve the output torque of driving device 20.The tooth of the driven gear 22
The ratio between number and the number of teeth of driving gear 21 are 3:1.
Then, Fig. 4-6 is referred to, the one kind provided by the second embodiment of the utility model is hollow to cross line drive mechanism
200.This is hollow cross that line drive mechanism 200 and first embodiment provided it is hollow cross line drive mechanism 100 the difference lies in that
In the present embodiment, as shown in figure 4, the crossed roller bearing 50 includes bearing outer ring 501, bearing inner race 502, is located at outside bearing
Roller 503 between circle 501 and bearing inner race 502.And in order to fix the crossed roller bearing 50, which is driven knot
Mounting assembly in structure 200 includes flange 43 for being fixed on bearing outer ring 501 in mounting disc 10 and for will be in bearing
Circle 502 is fixed on the bearing adapter 44 on driven gear 22.In the present embodiment, the inner ring of the crossed roller bearing 50 and outer
Circle is fixed by flange 43 and bearing adapter 44 respectively.Meanwhile in the present embodiment, which is equipped with accommodating described
The annular groove of crossed roller bearing 50, the depth of the annular groove are more than the height of the crossed roller bearing 50.
Specifically, referring to Fig. 6, the flange 43 provided in the present embodiment has annular installation sheet 431, in annular installation sheet
431, equipped with flange 43 is fixed on the connecting hole 433 in mounting disc 10, are additionally provided on annular installation sheet 431 for abutting axis
First locating ring 432 of bearing outer-ring 501 forms between first locating ring 432 of flange 43 and mounting disc 10 and is used for fixing bearing
The first clamping member of outer ring 501.The flange 43 is fixed on by the 4th screw 46 in mounting disc 10, and first on flange 43 is fixed
Position ring 432 is connected to the one side of the outer ring 501 of crossed roller bearing 50, and the annular groove of mounting disc 10 is connected to crossed roller
The another side of the outer ring 501 of bearing 50, therefore formed between flange 43 and mounting disc 10 for crossed roller bearing 50 to be clamped
The first clamping member of outer ring 501.
Further, referring to Fig. 5, the bearing adapter 44 provided in the present embodiment has annular matrix 441, in annular
The lower surface of matrix 441 is equipped with the second locating ring 442 abutted with bearing inner race 502, and being equipped in the second locating ring 442 will
Bearing adapter 44 is fixed on the mounting hole 443 on driven gear 22, the second locating ring 442 and driven tooth of bearing adapter 44
The second clamping piece for fixing the bearing inner race is formed between wheel 22.Second locating ring 442 of the bearing adapter 44 supports
It is connected to the one side of the inner ring 502 of crossed roller bearing 50, and driven gear 22 is connected to the inner ring 502 of crossed roller bearing 50
Another side, and bearing adapter 44 is fixed on driven gear 22 by third screw 45, intersect so as to form clamping
Second clamping piece of the inner ring of roller bearing 50.
The utility model additionally provides a kind of robot, which includes above-mentioned hollow crossing line drive mechanism 100.By
Above-mentioned hollow line drive mechanism excessively is used in robot, can not only solve the problems, such as that the intermediate of robot waist crosses line, together
When can also realize the rotational structure of robot waist, and the stereochemical structure of robot waist can be simplified so that its waist
Structure is more brief, and jackshaft can shorten, it is most important that the Standard of robot waist is more simple, and operation is more just
It is prompt.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
All any modification, equivalent and improvement etc., should be included in the guarantor of the utility model made by within novel spirit and principle
Within the scope of shield.
Claims (10)
- Include the mounting disc with passing channel, the driving positioned at the mounting disc bottom surface 1. one kind is hollow to cross line drive mechanism Device is set in the driving gear rotated with the driving device in the driving device, is intermeshed with the driving gear Positioned at it is described installation pan bottom driven gear, which is characterized in that on the driven gear have for circuit by through-hole, The hollow line drive mechanism of crossing further includes being set on the passing channel mounting disc connecting with the driven gear Crossed roller bearing, the crossed roller bearing include bearing outer ring, bearing inner race, be located at the bearing outer ring and the axis The roller between inner ring is held, the hollow line transmission device excessively further includes that the bearing outer ring is fixed on the mounting disc and is incited somebody to action The bearing inner race is fixed on the mounting assembly of the driven gear.
- 2. hollow as described in claim 1 cross line drive mechanism, which is characterized in that the crossed roller bearing further includes being located at Outside framework oil seal between the bearing outer ring and the bearing inner race.
- 3. hollow line drive mechanism is crossed as claimed in claim 2, which is characterized in that is additionally provided on the bearing outer ring and institute The integrally formed the first mounting ring of bearing outer ring is stated, is additionally provided on the bearing inner race and the bearing inner race integrally formed Two mounting rings；There is the first threaded hole being fixedly connected with the mounting disc in the first mounting ring, set in the mounting disc There is third threaded hole corresponding with first threaded hole；Have in the second mounting ring and is fixedly connected with the driven gear The second threaded hole, the driven gear be equipped with the 4th threaded hole corresponding with second threaded hole.
- 4. hollow as claimed in claim 3 cross line drive mechanism, which is characterized in that the mounting assembly includes by the bearing The first screw that outer ring is fixed in the mounting disc and the second spiral shell being fixed on the bearing inner race on the driven gear Nail.
- 5. hollow as claimed in claim 3 cross line drive mechanism, which is characterized in that the driven gear has annular body, The through-hole is outer with what is engaged with the driving gear on annular body center, the annular body outer circumference surface Tooth is set in being additionally provided with the first positioning step for abutting the bearing inner race in the annular body on first positioning step There is the 4th threaded hole.
- 6. hollow line drive mechanism is crossed as described in claim 1, which is characterized in that the mounting assembly includes for will be described The flange that bearing outer ring is fixed in the mounting disc and the axis for being fixed on the bearing inner race on the driven gear Forward fitting.
- 7. hollow as claimed in claim 6 cross line drive mechanism, which is characterized in that the flange has annular installation sheet, in The annular installation sheet is equipped with is fixed on the connecting hole in the mounting disc by the flange, is also set on the annular installation sheet It is useful for abutting the first locating ring of the bearing outer ring, is formed and used between the first locating ring and the mounting disc of the flange In the first clamping member of the fixation bearing outer ring.
- 8. hollow as claimed in claim 6 cross line drive mechanism, which is characterized in that the bearing adapter has annular base Body is equipped with the second locating ring abutted with the bearing inner race in the lower surface of the annular matrix, in second positioning Ring is equipped with is fixed on the mounting hole on the driven gear, the second positioning of the bearing adapter by the bearing adapter The second clamping piece for fixing the bearing inner race is formed between ring and the driven gear.
- 9. crossing line drive mechanism as claim 1-8 any one of them is hollow, which is characterized in that the number of teeth of the driven gear It is more than 1 with the ratio between the number of teeth of the driving gear.
- 10. a kind of robot, which is characterized in that including the hollow line drive mechanism excessively of such as claim 1-9 any one of them.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721837589.6U CN207724343U (en) | 2017-12-25 | 2017-12-25 | Hollow wire passing transmission structure and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721837589.6U CN207724343U (en) | 2017-12-25 | 2017-12-25 | Hollow wire passing transmission structure and robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207724343U true CN207724343U (en) | 2018-08-14 |
Family
ID=63086086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721837589.6U Active CN207724343U (en) | 2017-12-25 | 2017-12-25 | Hollow wire passing transmission structure and robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207724343U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000559A (en) * | 2017-12-25 | 2018-05-08 | 深圳市优必选科技有限公司 | Hollow wire passing transmission structure and robot thereof |
-
2017
- 2017-12-25 CN CN201721837589.6U patent/CN207724343U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000559A (en) * | 2017-12-25 | 2018-05-08 | 深圳市优必选科技有限公司 | Hollow wire passing transmission structure and robot thereof |
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