CN208323389U - A kind of deceleration mechanism applied to joint of robot Bearing-like reducer - Google Patents
A kind of deceleration mechanism applied to joint of robot Bearing-like reducer Download PDFInfo
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- CN208323389U CN208323389U CN201820728829.7U CN201820728829U CN208323389U CN 208323389 U CN208323389 U CN 208323389U CN 201820728829 U CN201820728829 U CN 201820728829U CN 208323389 U CN208323389 U CN 208323389U
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- China
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- steel assembly
- reducer
- joint
- gear
- shell
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Abstract
The utility model discloses a kind of deceleration mechanisms applied to joint of robot Bearing-like reducer, including driving motor, gear reducer, connector, rotating arm；It is characterized by: the connector includes shell, outer steel assembly, magnet, output shaft, interior magnet steel assembly, input shaft, groove is equipped on outer steel assembly, and two magnets are symmetrically fixedly mounted on the inner wall of groove, wherein interior magnet steel assembly is mounted in the groove on outer steel assembly, and the outer surface of interior magnet steel assembly does not connect with the inner surface of magnet, outer steel assembly wherein is installed in the inner cavity of shell, magnet, interior magnet steel assembly, wherein output shaft is fixedly mounted on interior magnet steel assembly, and output shaft passes through shell and connect with rotating arm, wherein input shaft is fixedly mounted on outer steel assembly, and input shaft passes through the output axis connection of shell and speed reducer；The speed reducer includes shell, reduction gearing disk, driving gear, planetary gear；The utility model assembly is simple, and speed reducer is hardly damaged, is at low cost.
Description
Technical field
The utility model relates to a kind of industrial robots, and in particular to a kind of applied to joint of robot Bearing-like reducer
Deceleration mechanism.
Background technique
Robotics development is rapid, but there is no really breakthrough robot bodies for robot technology at this stage, but with
Based on the system integration, the core industries chain technology such as joint speed reducer, controller driver, robot algorithm is not slapped really
It holds.
Currently, one is RV (Rot-Vector) speed reducers in the world there are mainly two types of joint of robot speed reducers, it is
Grow up on the basis of Cycloidal pin-wheel drive, there is double reduction and center disk supporting structure, its main feature is that: transmission ratio
Greatly, transmission efficiency is high, rigidity is big, referred to as robot " hired " speed reducer；Another kind is harmonic wave speed reducing machine, and central principle is
Flexbile gear generates controllable flexible deformation, reaches deceleration transmission purpose by flexbile gear and steel wheel engagement.Compared to harmonic wave speed reducing machine, RV subtracts
Fast machine has higher rigidity and rotating accuracy, and RV speed reducer is generally placed on pedestal, large arm, shoulder etc. in articulated robot
Harmonic wave speed reducing machine is placed on forearm, wrist or hand by heavy duty position.
The arm of existing industrial robot is usually made of the servomotor, gear reducer and rotary shaft that interconnect, is watched
It takes motor to slow down by harmonic wave speed reducing machine to achieve the purpose that slow down and increase square, be made using harmonic wave speed reducing machine cooperation crossed roller bearing
Main connection structure between speed reducer and rotary shaft, to realize the movement of arm；Crossed roller bearing in this configuration
External moment of flexure load is supported, not only assembly is complicated, but also harmonic wave speed reducing machine is easy to damage, at high cost, while using crossed roller axis
Manufacture into robot arm higher cost.
Summary of the invention
The purpose of this utility model is to provide a kind of deceleration mechanism applied to joint of robot Bearing-like reducer, assembly
Simply, speed reducer is hardly damaged, is at low cost.
A kind of deceleration mechanism applied to joint of robot Bearing-like reducer, including driving motor, gear reducer, connector,
Rotating arm；It is characterized by: the connector includes shell, outer steel assembly, magnet, output shaft, interior magnet steel assembly, input
Axis is equipped with groove on outer steel assembly, and two magnets is symmetrically fixedly mounted on the inner wall of groove, wherein interior magnet steel
Assembly is mounted in the groove on outer steel assembly, and the outer surface of interior magnet steel assembly does not connect with the inner surface of magnet,
Outer steel assembly, magnet, interior magnet steel assembly are installed, wherein output shaft is fixedly mounted in interior magnet steel assembly in the inner cavity of middle shell
On, and output shaft passes through shell and connect with rotating arm, and wherein input shaft is fixedly mounted on outer steel assembly, and input shaft
Across the output axis connection of shell and speed reducer；The speed reducer includes shell, reduction gearing disk, driving gear, planet tooth
Wheel.
Further, the reduction gearing disk is equipped with groove, equipped with multiple reducing gears on the inner wall of groove, and at
Circular array.
Further, driving gear is installed above the reduction gearing disk, wherein driving gear is mounted on input shaft.
Further, the input shaft passes through the motor axis connection of shell and driving motor.
Further, the driving gear is intermeshed by gear engagement with planetary gear.
Further, the planetary gear is equipped with multiple, and is mounted in driving gear all directions at round permutation.
Further, the planetary gear is intermeshed by gear engagement with reducing gear, and planetary gear passes through shaft
It is mounted on the bearing on reduction gearing disk.
Further, the output shaft is fixedly mounted on reduction gearing disk, and passes through the input of shell and connector
Axis connection.
Further, the driving motor, gear reducer, connector are fixedly mounted on pedestal.
The utility model has the beneficial effects that: present apparatus assembly is simple, ingenious in design, the present apparatus utilizes connector, real
The speed reducer and rotating arm of the existing present apparatus are without frictional connection, and speed reducer is hardly damaged；The present apparatus is revolved using outer steel assembly
When turning, magnetic field energy penetrates the air gap, and interior magnet steel assembly is driven to make synchronous rotary, realizes the contactless synchronous transmitting of power, together
When, present apparatus production cost is low.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the utility model connector schematic cross-sectional view.
Fig. 3 is the utility model connector schematic cross-sectional view.
Fig. 4 is the cross-sectional view of the utility model speed reducer.
Fig. 5 is the cross-sectional view of the utility model speed reducer.
In figure, driving motor 1, speed reducer 2, shell 21, reduction gearing disk 22, output shaft 23, input shaft 24, driving tooth
Take turns 25, planetary gear 26, pedestal 3, connector 4, shell 41, outer steel assembly 42, magnet 43, output shaft 44, interior magnet steel assembly
45, input shaft 46, rotating arm 5.
Specific embodiment
The following are the better embodiments of the utility model, but therefore do not limit the protection scope of the utility model.
As shown, a kind of deceleration mechanism applied to joint of robot Bearing-like reducer, including driving motor 1, deceleration
Machine 2, connector 4, rotating arm 5；It is characterized by: the connector 4 includes shell 41, outer steel assembly 42, magnet 43, output
Axis 44, interior magnet steel assembly 45, input shaft 46 are equipped with groove on outer steel assembly 42, and symmetrically solid on the inner wall of groove
Dingan County is filled with two magnets 43, wherein interior magnet steel assembly 45 is mounted in the groove on outer steel assembly 42, and interior magnet steel is total
Do not connect with the inner surface of magnet 43 at 45 outer surface, outer steel assembly 42, magnet wherein are installed in the inner cavity of shell 41
43, interior magnet steel assembly 45, wherein output shaft 44 be fixedly mounted on interior magnet steel assembly 45, and output shaft 44 pass through shell 41 with
Rotating arm 5 connects, and wherein input shaft 46 is fixedly mounted on outer steel assembly 42, and input shaft 46 passes through shell 41 and slows down
The output shaft 23 of machine 2 connects；The speed reducer 2 includes shell 21, reduction gearing disk 22, driving gear 25, planetary gear 26.
Further, the reduction gearing disk 22 is equipped with groove, and multiple reducing gears are equipped on the inner wall of groove, and
At circular array, driving gear 25 is installed above reduction gearing disk 22, wherein driving gear 25 is mounted on input shaft 24
On, wherein input shaft 24 pass through shell 21 and driving motor 1 motor axis connection, wherein driving gear 25 by gear engage and
Planetary gear 26 is intermeshed, and wherein planetary gear 26 is equipped with multiple, and it is each at round permutation to be mounted on driving gear 25
On direction, wherein planetary gear 26 is intermeshed by gear engagement with reducing gear, and planetary gear 26 is installed by shaft
On the bearing on reduction gearing disk 22, wherein output shaft 23 is fixedly mounted on reduction gearing disk 22, and passes through shell
Body 21 is connect with the input shaft 46 of connector 4；The driving motor 1, speed reducer 2, connector 4 are fixedly mounted on the base 3.
The utility model devises a kind of deceleration mechanism applied to joint of robot Bearing-like reducer: present apparatus assembly letter
Single, ingenious in design, the present apparatus utilizes connector, and the speed reducer and rotating arm for realizing the present apparatus are without frictional connection, and speed reducer
It is hardly damaged；When the present apparatus is rotated using outer steel assembly, magnetic field energy penetrates the air gap, and interior magnet steel assembly is driven to make synchronous rotation
Turn, realizes the contactless synchronous transmitting of power, meanwhile, present apparatus production cost is low.
Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art
Member for, without deviating from the technical principle of the utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (9)
1. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer, including driving motor, gear reducer, connector, rotation
Pivoted arm；It is characterized by: the connector includes shell, outer steel assembly, magnet, output shaft, interior magnet steel assembly, input shaft,
It is equipped with groove on outer steel assembly, and two magnets are symmetrically fixedly mounted on the inner wall of groove, wherein interior magnet steel is total
At in the groove being mounted on outer steel assembly, and the outer surface of interior magnet steel assembly does not connect with the inner surface of magnet, wherein
Outer steel assembly, magnet, interior magnet steel assembly are installed, wherein output shaft is fixedly mounted in interior magnet steel assembly in the inner cavity of shell
On, and output shaft passes through shell and connect with rotating arm, and wherein input shaft is fixedly mounted on outer steel assembly, and input shaft
Across the output axis connection of shell and speed reducer；The speed reducer includes shell, reduction gearing disk, driving gear, planet tooth
Wheel.
2. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 1, it is characterized in that: institute
It states reduction gearing disk and is equipped with multiple reducing gears on the inner wall of groove equipped with groove, and at circular array.
3. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 2, it is characterized in that: institute
It states and driving gear is installed above reduction gearing disk, wherein driving gear is mounted on input shaft.
4. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 3, it is characterized in that: institute
State the motor axis connection that input shaft passes through shell and driving motor.
5. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 3, it is characterized in that: institute
It states driving gear and is intermeshed by gear engagement with planetary gear.
6. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 5, it is characterized in that: institute
It states planetary gear and is equipped with multiple, and be mounted in driving gear all directions at round permutation.
7. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 6, it is characterized in that: institute
It states planetary gear and is intermeshed by gear engagement with reducing gear, and planetary gear is mounted on reduction gearing disk by shaft
On bearing on.
8. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 1, it is characterized in that: institute
It states output shaft to be fixedly mounted on reduction gearing disk, and passes through the input axis connection of shell and connector.
9. a kind of deceleration mechanism applied to joint of robot Bearing-like reducer according to claim 4, it is characterized in that: institute
State driving motor, gear reducer, connector is fixedly mounted on pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820728829.7U CN208323389U (en) | 2018-05-16 | 2018-05-16 | A kind of deceleration mechanism applied to joint of robot Bearing-like reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820728829.7U CN208323389U (en) | 2018-05-16 | 2018-05-16 | A kind of deceleration mechanism applied to joint of robot Bearing-like reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208323389U true CN208323389U (en) | 2019-01-04 |
Family
ID=64777540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820728829.7U Expired - Fee Related CN208323389U (en) | 2018-05-16 | 2018-05-16 | A kind of deceleration mechanism applied to joint of robot Bearing-like reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208323389U (en) |
-
2018
- 2018-05-16 CN CN201820728829.7U patent/CN208323389U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 Termination date: 20210516 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |