CN208529143U - A kind of industrial robot joint direct-connection transmission structure - Google Patents
A kind of industrial robot joint direct-connection transmission structure Download PDFInfo
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- CN208529143U CN208529143U CN201820728628.7U CN201820728628U CN208529143U CN 208529143 U CN208529143 U CN 208529143U CN 201820728628 U CN201820728628 U CN 201820728628U CN 208529143 U CN208529143 U CN 208529143U
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- motor
- transmission mechanism
- industrial robot
- robot joint
- transmission structure
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Abstract
The utility model relates to a kind of industrial robot joint direct-connection transmission structures, including fixed plate, the lower end of fixed plate is equipped with motor, upper end is equipped with harmonic wave speed reducing machine, the input shaft of motor is equipped with transmission mechanism by the connection type of flat key, transmission mechanism is connected with wave producer far from the end of motor, wave producer is mounted on inside harmonic wave speed reducing machine, the upper end of harmonic wave speed reducing machine is equipped with sealing plate, fixed plate is equipped with the fixing groove of installation transmission mechanism, and the circlip for hole of axially position transmission mechanism is equipped in fixing groove.The utility model cancels motor input shaft and wave producer is directly connected to structure, reduce the required precision to motor input shaft, the indirect transfer of Motor torque is realized by adding connecting shaft, the factors such as vibration, noise can be effectively reduced, improve the performance and service life of robot, the integral manufacturing cost of robot is reduced, assembly is simplified.
Description
Technical field
The utility model relates to Industrial Robot Technology field, specifically a kind of industrial robot joint direct-connection transmission
Structure.
Background technique
In existing industrial robot joint drive mechanism, the kind of drive of servo motor and speed reducer direct connection, due to its biography
Many advantages, such as efficiency of movement is high, compact-sized, at low cost is widely used.It is driven and ties for light loading robotics person joint
Structure, when servo motor uses direct-connection transmission mode with harmonic wave speed reducing machine, on the one hand joint transmission performance is limited to servo electricity
The geometric tolerances such as flatness, verticality, the concentricity of machine input shaft, it is on the other hand higher to the matching requirements in the joint, once
Appearance is assembled or form tolerance control is poor, easily leads to noise, the vibration of joint of robot, and then influences performance and the longevity of robot
Life.
For traditional direct-connection transmission structure using motor input shaft end face or on axis, vehicle goes out step to position wave producer.
But this is higher to the required precision of servo motor and expensive.In addition, also having using the wave hair for carrying European shaft coupling
Device is given birth to reduce the required precision to motor input shaft, still, is only applicable to the structure of larger space, and transmission efficiency can be brought
Loss.
Therefore, there is an urgent need to one kind can reduce assembly difficulty, cost of manufacture, meanwhile, effectively reduce noise, vibration
Direct-connection transmission structure.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, the utility model proposes a kind of industrial robot joint direct-connection transmissions
Structure.
Technical problem to be solved in the utility model is realized using following technical scheme:
A kind of industrial robot joint direct-connection transmission structure, including fixed plate, the lower end of the fixed plate be equipped with motor,
Upper end is equipped with harmonic wave speed reducing machine, and the input shaft of the motor is equipped with transmission mechanism, the biography by the connection type of flat key
Motivation structure is connected with wave producer far from the end of motor, and the wave producer is mounted on inside harmonic wave speed reducing machine, the harmonic wave
The upper end of speed reducer is equipped with sealing plate.
The fixed plate is equipped with the fixing groove of installation transmission mechanism, is equipped with axially position transmission mechanism in the fixing groove
Circlip for hole.
The transmission mechanism includes connecting shaft, mounted in pairs in connecting shaft as a further improvement of the utility model,
Bearing, position bearing circlip for shaft.
The keyway cooperated with flat key is equipped in the connecting shaft as a further improvement of the utility model,.
The outside of the connecting shaft is equipped with the positioning shaft shoulder of installation bearing, peace as a further improvement of the utility model,
Fill the shaft block ring groove of circlip for shaft.
The connecting shaft is equipped with the screw thread that wave producer is installed by screw as a further improvement of the utility model,
Hole.
The bearing is any in deep groove ball bearing or angular contact bearing as a further improvement of the utility model,
Kind.
The location hole shoulder for limiting transmission mechanism, peace are equipped in the fixing groove as a further improvement of the utility model,
Fill the hole retaining ring groove of circlip for hole.
The beneficial effects of the utility model are:
The utility model compared with prior art, cancels motor input shaft and wave producer is directly connected to structure, reduce
The indirect transfer of Motor torque is realized in required precision to motor input shaft by adding connecting shaft.In addition, on the outside of connecting shaft
Increase the bearing of mounted in pairs, guarantees that transmission rigidity can effectively reduce vibration, make an uproar since the precision of connecting shaft is easy to control
The factors such as sound improve the performance and service life of robot, can also reduce the integral manufacturing cost of robot, simplify assembly.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure cross-sectional view of the utility model；
Fig. 2 is the schematic perspective view of fixed plate in the utility model；
Fig. 3 is the schematic perspective view of transmission mechanism in the utility model；
Fig. 4 is the schematic perspective view of connecting shaft in the utility model；
Fig. 5 is the schematic perspective view of sealing plate in the utility model.
Specific embodiment
In order to be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, under
It is further described in face of the utility model.
In the description of the present invention, it should be understood that term " upper end ", " lower end ", " inside ", "inner", " outer
The orientation or positional relationship of the instructions such as side " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this reality
It is described with novel with simplified, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore should not be understood as limiting the present invention.
As shown in Figures 1 to 5, a kind of industrial robot joint direct-connection transmission structure, including fixed plate 1, the fixed plate 1
Lower end motor 2 is installed, upper end is equipped with harmonic wave speed reducing machine 3, the input shaft of the motor 2 is pacified by the connection type of flat key
Equipped with transmission mechanism 4, the transmission mechanism 4 is connected with wave producer 6 far from the end of motor 2, and the wave producer 6 is mounted on
Inside harmonic wave speed reducing machine 3, the upper end of the harmonic wave speed reducing machine 3 is equipped with sealing plate 7.
The fixed plate 1 is equipped with the fixing groove 11 of installation transmission mechanism 4, is equipped with axially position in the fixing groove 11 and passes
The circlip for hole 5 of motivation structure 4.
The transmission mechanism 4 includes bearing 42 in connecting shaft 41 of connecting shaft 41, mounted in pairs, the axis for positioning bearing 42
With circlip 43.
The keyway 411 cooperated with flat key is equipped in the connecting shaft 41.
The outside of the connecting shaft 41 is equipped with the positioning shaft shoulder 412 of installation bearing 42, installs the axis of circlip for shaft 43
With retaining ring groove 413.
The connecting shaft 41 is equipped with the threaded hole 414 that wave producer 6 is installed by screw.
The bearing 42 is any one of deep groove ball bearing or angular contact bearing.In use, for guaranteeing transmission rigidity.
The hole use for being equipped in the fixing groove 11 and limiting the location hole shoulder 111 of transmission mechanism 4, install circlip for hole 5
Retaining ring groove 112.
The application method of the utility model is further elaborated below:
In use, lower end utilizes fixing groove 11 firstly, transmission mechanism 4 is placed in inside the fixing groove 11 of fixed plate 1
Location hole shoulder 111 positions, and axially position is realized using circlip for hole 5 in upper end, avoids transmission mechanism play, motor 2 is pacified
Lower end loaded on fixed plate 1, the input shaft of motor 2 are placed in inside transmission mechanism 4, transmit torque using flat key, harmonic wave is subtracted
Fast machine 3 is installed on the upper end of fixed plate 2, and wave producer 6 is fixed by screws in connecting shaft 41.
When motor 2 works, high speed low torque is transmitted on transmission mechanism 4 by flat key, wave producer 6 and driver
Structure 4 connects, and then high speed low torque is transmitted to wave producer 6 and is moved, and realizes turning for the low speed and large torque of harmonic wave speed reducing machine 3
It changes.
In conclusion the utility model cancels motor input shaft and wave producer is directly connected to structure, reduce defeated to motor
The indirect transfer of Motor torque is realized in the required precision for entering axis by adding connecting shaft.In addition, increasing on the outside of connecting shaft pairs of
The bearing of installation guarantees that transmission rigidity can effectively reduce the factors such as vibration, noise since the precision of connecting shaft is easy to control,
The performance and service life for improving robot can also reduce the integral manufacturing cost of robot, simplify assembly.
Basic principles, main features, and advantages of the present invention has been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model also has
Various changes and modifications, these changes and improvements are both fallen in claimed invention.The requires of the utility model protection
Range is defined by the appending claims and its equivalent thereof.
Claims (7)
1. the lower end of a kind of industrial robot joint direct-connection transmission structure, including fixed plate (1), the fixed plate (1) is equipped with
Motor (2), upper end are equipped with harmonic wave speed reducing machine (3), it is characterised in that: the connection that the input shaft of the motor (2) passes through flat key
Mode is equipped with transmission mechanism (4), and the transmission mechanism (4) is connected with wave producer (6) far from the end of motor (2), described
Wave producer (6) is mounted on harmonic wave speed reducing machine (3) inside, and the upper end of the harmonic wave speed reducing machine (3) is equipped with sealing plate (7)；
The fixed plate (1) is equipped with the fixing groove (11) of installation transmission mechanism (4), and it is axial fixed to be equipped in the fixing groove (11)
The circlip for hole (5) of position transmission mechanism (4).
2. a kind of industrial robot joint direct-connection transmission structure according to claim 1, it is characterised in that: the driver
Structure (4) includes bearing (42) on connecting shaft (41) of connecting shaft (41), mounted in pairs, the axis elasticity gear for positioning bearing (42)
It encloses (43).
3. a kind of industrial robot joint direct-connection transmission structure according to claim 2, it is characterised in that: the connecting shaft
(41) keyway (411) cooperated with flat key is equipped in.
4. a kind of industrial robot joint direct-connection transmission structure according to claim 2, it is characterised in that: the connecting shaft
(41) outside is equipped with the positioning shaft shoulder (412) of installation bearing (42), installs the shaft block ring groove of circlip for shaft (43)
(413)。
5. a kind of industrial robot joint direct-connection transmission structure according to claim 2, it is characterised in that: the connecting shaft
(41) it is equipped with the threaded hole (414) by screw installation wave producer (6).
6. a kind of industrial robot joint direct-connection transmission structure according to claim 2, it is characterised in that: the bearing
It (42) is any one of deep groove ball bearing or angular contact bearing.
7. a kind of industrial robot joint direct-connection transmission structure according to claim 1, it is characterised in that: the fixing groove
(11) the location hole shoulder (111) for limiting transmission mechanism (4), the hole retaining ring groove for installing circlip for hole (5) are equipped in
(112)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820728628.7U CN208529143U (en) | 2018-05-16 | 2018-05-16 | A kind of industrial robot joint direct-connection transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820728628.7U CN208529143U (en) | 2018-05-16 | 2018-05-16 | A kind of industrial robot joint direct-connection transmission structure |
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| Publication Number | Publication Date |
|---|---|
| CN208529143U true CN208529143U (en) | 2019-02-22 |
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ID=65393252
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820728628.7U Active CN208529143U (en) | 2018-05-16 | 2018-05-16 | A kind of industrial robot joint direct-connection transmission structure |
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| Country | Link |
|---|---|
| CN (1) | CN208529143U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466287A (en) * | 2018-05-16 | 2018-08-31 | 埃夫特智能装备股份有限公司 | A kind of industrial robot joint direct-connection transmission structure |
-
2018
- 2018-05-16 CN CN201820728628.7U patent/CN208529143U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466287A (en) * | 2018-05-16 | 2018-08-31 | 埃夫特智能装备股份有限公司 | A kind of industrial robot joint direct-connection transmission structure |
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