CN209350284U - A kind of the 4th joint gear transmission mechanism of robot - Google Patents
A kind of the 4th joint gear transmission mechanism of robot Download PDFInfo
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- CN209350284U CN209350284U CN201822049467.1U CN201822049467U CN209350284U CN 209350284 U CN209350284 U CN 209350284U CN 201822049467 U CN201822049467 U CN 201822049467U CN 209350284 U CN209350284 U CN 209350284U
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- motor cabinet
- gear
- output gear
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- hollow transitional
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Abstract
The utility model discloses a kind of the 4th joint gear transmission mechanism of robot, including motor cabinet, motor cabinet cover board, first output gear, second output gear, retarder, servo motor and hollow transitional axis, hollow transitional shaft mounting hole and pinion mounting holes are equipped in motor cabinet, motor cabinet cover plate lid is on motor cabinet, the rotation of hollow transitional axis is set in hollow transitional shaft mounting hole, first output gear, second output gear is located in pinion mounting holes, first output gear is fixedly connected with output end of reducer, second output gear is sleeved on hollow transitional axis, first output gear is connected by meshing transmission with the second output gear；The output shaft of servo motor and the input terminal of retarder connect, and the cavity of hollow transitional axis is for wearing cable and tracheae.The joint receiving load of the application design is big, and transmission speed and transmission efficiency are high.And be routed by the cavity of hollow transitional axis, joint integral layout is unaffected, and the appearance is beautiful and elegant.
Description
Technical field
The utility model relates to Industrial Robot Technology fields, and in particular to a kind of the 4th joint gear driver of robot
Structure.
Background technique
With the rapid development of industrial automation, industrial robot is all widely applied in the industry in large number of rows, and work
The joint designs of industry robot directly influence the precision of robot, performance, thus the joint needs of industrial robot are lighter
Quantify and bigger load can be born, simultaneously, it is desirable that there is lower manufacturing cost.
In the prior art, the 4th joint of industrial robot mostly uses servo motor directly to drive the structure type of speed reducer, such as Fig. 1
Shown (Fig. 1 is existing the 4th joint structure schematic diagram of industrial robot), J4 axis are to be driven to revolve by speed reducer by servo motor
Turn, in order to facilitate robot interior cabling, usually selection hollow reducer, but hollow reducer model is limited, and joint institute
The load that can be born is limited directly by the speed reducer of selected model, and the size design of the 4th joint structure part is also limited by and subtracts
The size of fast machine is often appeared in practical application not choosing model under conditions of meeting design load and comply fully with and be wanted
The speed reducer asked.
Utility model content
To solve the above problems, the utility model provides a kind of the 4th joint gear transmission mechanism of robot, overcome existing
There are in technology the 4th joint transmission mechanism of industrial robot existing many drawbacks in the design, the mechanism structure is simple, whole
Transmission efficiency is high, and joint velocity is big, and energy-saving effect is significant.
For this purpose, the technical solution adopted in the utility model is:
A kind of the 4th joint gear transmission mechanism of robot, including motor cabinet, motor cabinet cover board, the first output gear,
Two output gears, retarder, servo motor and hollow transitional axis are axially successively arranged the installation of hollow transitional axis in the motor cabinet
Hole and pinion mounting holes, motor cabinet cover board are equipped with first through hole, and motor cabinet cover plate lid is on motor cabinet, first through hole and gear
Mounting hole connection；Hollow transitional axis is set in hollow transitional shaft mounting hole by bearing rotation, and small end end extends to first
In through-hole；First output gear, the second output gear are located in pinion mounting holes, and the first output gear and output end of reducer connect
It connects, the second output gear is sleeved on hollow transitional axis, and the first output gear is connected by meshing transmission with the second output gear；Servo
Motor and retarder are mounted on the lateral surface of motor cabinet cover board, and the output shaft of servo motor and the input terminal of retarder connect, in
The cavity of empty transition axis is for wearing cable and tracheae.
Further, the bearing is tapered roller bearing or angular contact ball bearing, there are two the bearing is set altogether, two
Bearing is mounted in motor cabinet with back-to-back combining form.
Further, spacer ring and adjustment gasket are equipped between second output gear and tapered roller bearing.
Further, the first sealing ring is equipped between the hollow transitional axis and motor cabinet, the first sealing ring is mounted on electricity
The end of base.
Further, the second sealing ring, the installation of the second sealing ring are equipped between the hollow transitional axis and motor cabinet cover board
On motor cabinet cover board.
Further, it is set with input gear on the output shaft of the servo motor, the input gear and retarder
The gear of input terminal is connected by meshing transmission.
The utility model has the beneficial effects that compared with prior art, the application has abandoned hollow decelerator in the design
It uses, is connect with hollow transitional axis by gear drive using common retarder, motor drives J4 by retarder, transmission gear
Axis rotation, enhances the load that joint can bear, the transmission speed and transmission efficiency in joint obviously get a promotion.In hollow mistake
It crosses in the cavity of axis and is routed, overcome the inconvenient defect of the hollow aperture of the hollow speed reducer of prior art wiring less than normal, and pass through
The cavity of hollow transitional axis is routed, and joint integral layout is unaffected, and the appearance is beautiful and elegant.
Detailed description of the invention
Fig. 1 is the main view of the embodiment 1 of the 4th joint gear transmission mechanism of the utility model robot.
Fig. 2 is the half-sectional top view of the embodiment 1 of the 4th joint gear transmission mechanism of the utility model robot.
Fig. 3 is the axonometric drawing of the embodiment 1 of the 4th joint gear transmission mechanism of the utility model robot.
Fig. 4 is the structural schematic diagram in existing the 4th joint of industrial robot.
Specific embodiment
It is preferred below in conjunction with attached drawing and one kind to keep the purpose of this utility model, technical solution and advantage clearer
Embodiment the technical solution of the utility model is clearly and completely described.
Embodiment 1
Refering to fig. 1 to Fig. 3, one kind being used for the 4th joint gear transmission mechanism of robot, mainly by servo motor 1, motor
Seat 8, motor connecting base 3, retarder 4, motor cabinet cover board 5, the first output gear 6, the second output gear 7, tapered roller bearing 9
And hollow transitional axis 12 is constituted.
Wherein, motor cabinet 8 is connect with motor cabinet cover board 5, forms the main body of robot transmission articulation mechanism.Motor cabinet cover board
5 by screw equipped with being fixedly mounted on motor cabinet 8, and motor cabinet cover board 5 is equipped with the first through hole that cable and tracheae pass through.Electricity
Base cover board 5 plays the role of dust-proof and security protection, while also as motor and the mounting plate of retarder.
The central part of motor cabinet 8 is axially arranged with hollow transitional shaft mounting hole, and hollow transitional shaft mounting hole is close to motor flap
Its hole wall of one end of plate 5, which is radially-inwardly recessed, forms output gear mounting hole, from output gear mounting hole to far from motor flap
First bearing mounting portion, second bearing mounting portion and sealing ring are successively arranged on the hole wall of the hollow transitional shaft mounting hole in plate direction
Mounting portion.
Two tapered roller bearings 91,92 are separately mounted to first bearing mounting portion, second with back-to-back combining form
Axle bearing mount portion, the first sealing ring 11 are mounted on sealing ring mounting portion.Hollow transitional axis 12 is multi-diameter shaft, and big end end is equipped with
Stage portion, small end outer peripheral surface are equipped with gear mounting surface.Hollow transitional axis 12 sequentially passes through the first sealing ring 11, the second taper roller
Bearing 92, the first tapered roller bearing 91 are rotatably installed in the hollow transitional shaft mounting hole of motor cabinet 8, hollow transitional axis 12
Small end stretches out hollow transitional shaft mounting hole and extends in the first through hole of motor cabinet cover board 5, the inside face paste of big end stage portion
The small end end face of nearly motor cabinet 8.The second sealing ring, the second sealing ring peace are equipped between hollow transitional axis 12 and motor cabinet cover board 5
On the hole wall of the first through hole of motor cabinet cover board 5.
Second output gear 7 is sleeved on the gear mounting surface of the small end of hollow transitional axis 12, the second output gear 7 and
Spacer 13 and adjustment gasket 14 are equipped between one tapered roller bearing 91.Spacer 13 and adjustment gasket 14 are for adjusting the second output
The installation site of gear 7 and the pre-pressing force of bearing.First output gear 6 installs the side of the second output gear 7, with second
Output gear 7 is connected by meshing transmission.
Retarder 4 is mounted by means of bolts on the lateral surface of motor cabinet cover board 5, and the output end of retarder 4 passes through spiral shell
Bolt is fixedly connected with the first output gear 6.The retarder 4 is common retarder, can be selected according to the design needs corresponding
Model, model is unrestricted, and range of choice is extensive.
The motor connecting base 3 of servo motor 1 is mounted by means of bolts on the lateral surface of motor cabinet cover board 5, and motor is defeated
Input gear 2 is set on shaft, input gear 2 and the input gear of retarder 4 are connected by meshing transmission.
Illustrate the working method of the gear drive of the application by taking embodiment 1 as an example below:
Servo motor 1 drives the rotation of the first output gear 6, the second output gear 7 and the first output gear by retarder 4
6 engaged transmissions, the second output gear 7 drive hollow transitional axis 12 to rotate, and the first, second tapered roller bearing 91,92 rolls branch
It holds hollow transitional axis 12, hollow transitional axis 12 and motor cabinet 8 and motor cabinet cover board 5 passes through the first sealing ring 11 and the second sealing ring
Rotary seal.The cavity of hollow transitional axis 12 is for wearing cable and tracheae.
Not doing the part illustrated in above instructions is the prior art, or has both been able to achieve by the prior art.
Claims (6)
1. a kind of the 4th joint gear transmission mechanism of robot, including motor cabinet, motor cabinet cover board, the first output gear, second
Output gear, retarder, servo motor and hollow transitional axis, which is characterized in that be axially successively arranged in the motor cabinet hollow
Transition shaft mounting hole and pinion mounting holes, motor cabinet cover board are equipped with first through hole, and motor cabinet cover plate lid is on motor cabinet, and first
Through-hole is connected to pinion mounting holes；Hollow transitional axis is set in hollow transitional shaft mounting hole by bearing rotation, small end end
It extends in first through hole；First output gear, the second output gear are located in pinion mounting holes, the first output gear and deceleration
The connection of machine output end, the second output gear are sleeved on hollow transitional axis, and the first output gear engages biography with the second output gear
Dynamic connection；Servo motor and retarder are mounted on the lateral surface of motor cabinet cover board, the output shaft of servo motor and retarder it is defeated
Enter end connection, the cavity of hollow transitional axis is for wearing cable and tracheae.
2. gear drive as described in claim 1, which is characterized in that the bearing is tapered roller bearing or angular contact
Ball bearing, there are two the bearing is set altogether, two bearings are mounted in motor cabinet with back-to-back combining form.
3. gear drive as claimed in claim 2, which is characterized in that second output gear and tapered roller bearing
Between be equipped with spacer ring and adjustment gasket.
4. gear drive as described in claim 1, which is characterized in that be equipped between the hollow transitional axis and motor cabinet
First sealing ring, the first sealing ring are mounted on the end of motor cabinet.
5. gear drive as described in claim 1, which is characterized in that between the hollow transitional axis and motor cabinet cover board
Equipped with the second sealing ring, the second sealing ring is mounted on motor cabinet cover board.
6. gear drive as described in claim 1, which is characterized in that be set on the output shaft of the servo motor defeated
Enter gear, the gear of the input terminal of the input gear and retarder is connected by meshing transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822049467.1U CN209350284U (en) | 2018-12-07 | 2018-12-07 | A kind of the 4th joint gear transmission mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822049467.1U CN209350284U (en) | 2018-12-07 | 2018-12-07 | A kind of the 4th joint gear transmission mechanism of robot |
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| Publication Number | Publication Date |
|---|---|
| CN209350284U true CN209350284U (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822049467.1U Active CN209350284U (en) | 2018-12-07 | 2018-12-07 | A kind of the 4th joint gear transmission mechanism of robot |
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| Country | Link |
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| CN (1) | CN209350284U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227664A (en) * | 2021-12-31 | 2022-03-25 | 中铭谷智能机器人(广东)有限公司 | Novel transmission device and transmission method for cooperative robot |
-
2018
- 2018-12-07 CN CN201822049467.1U patent/CN209350284U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227664A (en) * | 2021-12-31 | 2022-03-25 | 中铭谷智能机器人(广东)有限公司 | Novel transmission device and transmission method for cooperative robot |
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