CN209831694U - Rotating structure of robot - Google Patents
Rotating structure of robot Download PDFInfo
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- CN209831694U CN209831694U CN201920178944.6U CN201920178944U CN209831694U CN 209831694 U CN209831694 U CN 209831694U CN 201920178944 U CN201920178944 U CN 201920178944U CN 209831694 U CN209831694 U CN 209831694U
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Abstract
The utility model provides a revolution mechanic of robot belongs to robotic device technical field. The robot wrist mounting structure solves the problem that the existing robot wrist mounting space is small. This revolution mechanic of robot, robot include casing, driving motor and rotation axis, the input band pulley sets up in the casing, and the cover is equipped with the tight belt that rises on the input band pulley, the output band pulley has been cup jointed on the tight belt that rises, is equipped with the input bevel gear with the coaxial setting of output band pulley in the casing, the meshing of input bevel gear is connected with output bevel gear, the mounting groove has been seted up on output bevel gear's the gear shaft one, gear shaft two of input gear imbed the mounting groove back gear shaft two can slide in the mounting groove and be connected with gear shaft one through the fastener, be equipped with the output gear with input gear meshing on the rotation axis. This structure makes whole revolution mechanic's installation comparatively convenient, and the adjustment of backlash is more accurate, has reduced the noise that this revolution mechanic can produce in the use.
Description
Technical Field
The utility model belongs to the technical field of the robot, a revolution mechanic of robot is related to.
Background
Along with the continuous development of the society at present, people also use more and more to the robot, current robot snatchs the article below 30kg when using, consequently need design the rotation axis of wrist, the rotational speed of the rotation axis department of current robot is not high, it is unstable that the drivable motor rotates under extremely low speed, control is difficult, consequently, need set up a machinery, make driving motor move under more reasonable rotational speed, driving motor's output rotational speed is great this moment, consequently need add a machinery that can reduce driving motor rotational speed, the smoothness of motion has been guaranteed.
The existing robot rotating shaft is generally provided with a harmonic reducer behind a belt wheel and a bevel gear for reducing the speed of the rotating shaft, so that a driving motor can move at a reasonable rotating speed, the harmonic reducer is often installed and fixed in the installation process, then the meshing gap between the bevel gear and the belt wheel is finely adjusted and fixed, the harmonic reducer is arranged behind the bevel gear, when the robot rotating shaft runs, the driving motor rotates at the reasonable rotating speed, when the speed is transmitted to the bevel gear, because the harmonic reducer is arranged behind the bevel gear, the transmission ratio of the bevel gear is larger when the motor speed is transmitted to the bevel gear, the noise of the rotating shaft in the running process is larger, the working environment is influenced, the price of the existing harmonic reducer is very expensive, and the harmonic reducer accounts for a larger ratio in the whole robot cost, the harmonic reducer usually adopts the flexible gear to periodically deform, so that the harmonic reducer can generate fatigue damage in the long-term use process, and the maintenance cost of a robot rotating shaft is further increased.
Disclosure of Invention
The utility model aims at having the above-mentioned problem to current technique, provided a revolution mechanic of robot, the utility model aims to solve the technical problem that how make the noise of rotation axis reduce when realizing the rotation axis speed reduction.
The purpose of the utility model can be realized by the following technical proposal:
a rotary structure of robot is composed of casing, drive motor, rotary axle, input belt wheel connected to the motor axle of drive motor, the input belt wheel is arranged in the shell, a tensioning belt is sleeved on the input belt wheel, an output belt wheel is sleeved on the tensioning belt, it is characterized in that an input bevel gear which is coaxial with the output belt wheel is arranged in the shell and can move along the axial direction of the output belt wheel, the input bevel gear is connected with an output bevel gear in a meshing way, a first gear shaft of the output bevel gear is provided with an installation groove, the rotating structure also comprises an input gear, the second gear shaft of the input gear is embedded into the mounting groove, the second gear shaft can slide in the mounting groove and is connected with the first gear shaft through a fastening piece, and the rotating shaft is provided with an output gear meshed with the input gear.
The working principle is as follows: in the installation process, the rotating shaft is stably arranged, the input gear is meshed with the output gear at the moment, the position of the input gear is positioned according to the position of the output gear, the gear shaft II of the input gear is arranged in the installation groove and is fixedly connected with the gear shaft I through a fastener, the position of the input bevel gear is determined through the position of the output bevel gear, the position of the input bevel gear can move along the axial direction of the output pulley, the output pulley can be finely adjusted along with the position of the input bevel gear, the input pulley and the tensioning belt can be correspondingly adjusted along with the position of the output gear, the driving motor can drive the input pulley to rotate, the rotating structure mainly reduces the speed of the rotating structure through the input pulley and the output pulley with larger speed reduction ratio and the input gear and the output gear with larger speed reduction ratio, and the structure is adopted, the parts of the structure are processed and manufactured by common parts, compared with the existing harmonic reducer, the cost of the rotating structure is lower, the whole rotating structure is only pressed and installed step by step through the positioning of the rotating shaft in the installation process, so that the installation of the whole rotating structure is more convenient, in addition, when the rotating structure is installed, the input gear can axially move the gear shaft II, the position of the gear shaft II in the installation groove is adjusted and then fixed through the fastening piece, the input gear is tightly meshed with the output gear without shaking, the axial position of the output bevel gear is driven to be correspondingly adjusted, the axial adjustment can be carried out on the input gear and the output bevel gear when the input gear and the output bevel gear are installed, the adjustment of the meshing clearance between the input gear and the output gear is more accurate, and the adjustment of the meshing clearance between the input bevel gear and the output bevel gear is more accurate, the noise generated by the rotating structure in the using process is reduced.
In the above-mentioned rotary structure of the robot, the rotary structure includes a first adjusting shim disposed between the first gear shaft and the second gear shaft, and a distance is provided between an end surface of the second gear shaft inserted into one end of the mounting groove and a bottom of the mounting groove.
Through setting up the adjusting shim one of different thickness, and adjusting shim one has the power of blockking that pushes away gear shaft two with gear shaft one, and the fastener has the pulling force of fixing gear shaft two in gear shaft mounting groove, under the combined action of power of blockking and pulling force, make gear shaft one and gear shaft two relative set up the position can be more stable, the regulation to output bevel gear axial position has been realized, interval and adjusting shim one's thickness can be corresponding adjust, make output bevel gear axial position's adjustment more convenient, and the setting of interval, can play certain noise reduction effect, thereby make output bevel gear's regulation more convenient and reduced the noise when revolution mechanic used.
In the revolution mechanic of foretell robot, the cover is equipped with the supporting seat that is the tube-shape on the input gear, be equipped with on the casing and lean on the step, the outside protruding fender shoulder that forms of one end of supporting seat, keep off the shoulder can with lean on the step and laminate mutually and fix a position on the casing through the screw, the tip of screw can with lean on the step counterbalance and lean on.
Lean on the setting of leaning on the step and keeping off the shoulder for the supporting seat can carry out the pretension location when the installation, and direct will keep off the shoulder location through the screw and lean on the step, and the concrete position of rethread input gear carries out radial adjustment to the supporting seat, and further make whole revolution mechanic's installation more convenient, and provide the radial holding power of input gear, make input gear in the operation process, can not take place to deviate, improved revolution mechanic's stability.
In the above-mentioned rotary structure of the robot, an adjustment gap is provided between the outer side wall of the support base and the inner side wall of the housing.
The setting of this structure, make the position of supporting seat can radially be adjusted, thereby can realize adjusting the position of input gear through the position of removal supporting seat, the position of the output bevel gear that drives the input gear connection is adjusted, make input bevel gear and output bevel gear's meshing precision can more accurate and lower to its degree of wear, input gear and output gear's precision more accurate and lower to its degree of wear, further reduction revolution mechanic can produce the noise in the use, and can increase revolution mechanic's life.
In the revolution mechanic of foretell robot, the other end of supporting seat is inside protruding to form limit baffle, gear shaft two is close to the protruding spacing ring that forms of one end of output gear, be equipped with a plurality of bearing one in the supporting seat, bearing one all sets up between limit baffle and spacing ring, the inside wall of bearing one all laminates with the outside wall of gear shaft two mutually.
The setting of bearing one has reduced the frictional force between the inside wall of supporting seat and the gear shaft outside wall, and can provide radial holding power to gear shaft two, and the setting of limit baffle and spacing ring for setting up of bearing one can be more stable, does not influence output bevel gear's axial adjustment, makes the further reduction of revolution mechanic's noise.
In the above-mentioned rotary structure of the robot, the third gear shaft of the output pulley is provided with an adjusting groove, the fourth gear shaft of the input bevel gear can be embedded into the adjusting groove and connected by a fastener, and a gap is provided between the end surface of one end of the fourth gear shaft embedded into the adjusting groove and the bottom of the adjusting groove.
The setting of this structure for the axial distance of output band pulley and input bevel gear can be adjusted, thereby the axial position of output band pulley can remain unchanged, and the setting in space makes the regulation between output band pulley and the input bevel gear more convenient, and the space has the effect of noise reduction, makes the installation of whole revolution mechanic more convenient, succinct.
In the above-mentioned rotary structure of the robot, the input bevel gear is externally sleeved with an adjusting seat, the housing is protruded to form a blocking edge, the adjusting seat is provided with a notch, and the blocking edge can be embedded into the notch.
The setting of this structure for the setting of adjustment seat can be more stable, thereby can realize the pretension location setting to input bevel gear, has improved revolution mechanic's installation effectiveness.
In the rotating structure of the robot, at least one second bearing is arranged in the adjusting seat, a limiting plate is arranged at one end, away from the adjusting groove, of the fourth gear shaft, the second bearing is arranged between the limiting plate and the third gear shaft, and an adjusting gasket II is arranged between the limiting plate and the second bearing.
Through setting up the adjusting shim one of different thickness, realized the regulation to input bevel gear axial position, the setting of bearing two can reduce the gear shaft four and adjust the frictional force between the seat to reduce the noise of the production between gear shaft one and the adjustment seat, improved revolution mechanic's noise reduction effect.
In the above-mentioned rotary structure of the robot, a limiting groove is formed in one end of the adjusting seat close to the output belt wheel, a limiting piece is arranged in the limiting groove of the adjusting seat, and one of the bearings can abut against the limiting piece.
The setting of this structure for bearing two can be stable sets up in the adjustment seat, and in the adjustment process, can carry out further spacing to bearing two through the spacing piece of changing different thickness, has improved revolution mechanic's stability.
The lower bottom surface of the gasket is flush with the bottom surface of the third gear shaft of the output belt wheel.
Compared with the prior art, the rotating structure of the robot has the advantages that: whole revolution mechanic is at the in-process of installation, only through the location of rotation axis, compresses tightly the installation with above-mentioned structure step by step for whole revolution mechanic's installation is comparatively convenient, and the convenience more of the adjustment of the back lash in the rotation axis, makes back lash's adjustment more accurate, has reduced the noise that this revolution mechanic can produce in the use.
Drawings
Fig. 1 is a partial sectional view of the robot after the rotating structure is assembled.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a partially enlarged view at B in fig. 1.
In the figure, 1, a housing; 11. a drive motor; 12. a motor shaft; 13. abutting against the step; 14. adjusting the clearance; 15. blocking edges; 2. a rotating shaft; 21. an output gear; 3. an input pulley; 4. tensioning the belt; 5. an output pulley; 51. a gear shaft III; 52. an adjustment groove; 6. an input bevel gear; 61. a gear shaft IV; 62. a void; 63. an adjusting seat; 64. a recess; 65. a second bearing; 66. a limiting plate; 67. adjusting a second gasket; 68. a limiting groove; 69. a limiting sheet; 7. an output bevel gear; 71. a first gear shaft; 72. mounting grooves; 73. adjusting a first gasket; 74. spacing; 8. an input gear; 81. a second gear shaft; 82. a supporting seat; 83. a shoulder block; 84. a screw; 85. a limit baffle; 86. a first bearing; 87. a limiting ring; 9. a fastener.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
As shown in fig. 1, the robot comprises a housing 1, a driving motor 11 and a rotating shaft 2, the rotating structure comprises an input belt wheel 3 capable of being connected with a motor shaft 12 of the driving motor 11, the input belt wheel 3 is arranged in the housing 1, a tension belt 4 is sleeved on the input belt wheel 3, and an output belt wheel 5 is sleeved on the tension belt 4.
Specifically, as shown in fig. 1 to 3, an input bevel gear 6 is disposed in the housing 1 and is coaxial with the output pulley 5, the input bevel gear 6 can move along the axial direction of the output pulley 5, the input bevel gear 6 is engaged with the output bevel gear 7, a first gear shaft 71 of the output bevel gear 7 is provided with a mounting groove 72, the rotating structure further includes an input gear 8, a second gear shaft 81 of the input gear 8 is embedded in the mounting groove 72, then the second gear shaft 81 can slide in the mounting groove 72 and is connected with the first gear shaft 71 through a fastening member 9, and an output gear 21 engaged with the input gear 8 is disposed on the rotating shaft 2.
The working principle is as follows: during the installation process, the rotating shaft 2 is stably arranged, the input gear 8 is meshed with the output gear 21 at the moment, the position of the input gear 8 is positioned according to the position of the output gear 21, the second gear shaft 81 of the output gear 21 is arranged in the mounting groove 72 and fixedly connected with the first gear shaft 71 through the fastening piece 9, the position of the input bevel gear 6 is determined according to the position of the output bevel gear 7, the position of the input bevel gear 6 can move along the axial direction of the output pulley 5, the output pulley 5 can be finely adjusted according to the position of the input bevel gear 6, the input pulley 3 and the tensioning belt 4 can be correspondingly adjusted according to the position of the output gear 21, the driving motor 11 can drive the input pulley 3 to rotate, the rotating structure is mainly realized by the input pulley 3 and the output pulley 5 with larger speed reduction ratio and the input gear 8 and the output gear 21 with larger speed reduction ratio, the speed of the rotating structure can be reduced, the structure is adopted, the parts of the structure are manufactured by common parts, compared with the existing harmonic reducer, the cost of the rotating structure is lower, the whole rotating structure is only pressed and installed step by step through the positioning of the rotating shaft 2 in the installation process, the installation of the whole rotating structure is more convenient, in addition, in the installation process, the input gear 8 can axially move the gear shaft II 81, the position of the gear shaft II 81 in the installation groove 72 is adjusted and then fixed through the fastening piece 9, the input gear 8 is tightly meshed with the output gear 21, the shaking is avoided, the noise reduction effect is realized, the axial position of the output bevel gear 7 is driven to be correspondingly adjusted, and the input gear 8 and the output bevel gear 7 can be axially adjusted in the installation process, therefore, the adjustment of the meshing clearance between the input gear 8 and the output gear 21 is more accurate, the adjustment of the meshing clearance between the input bevel gear 6 and the output bevel gear 7 is more accurate, and the noise generated by the rotating structure in the using process is reduced.
This scheme is compared and is compared in traditional scheme, and when same output speed, current scheme of adopting the harmonic speed reducer machine, bevel gear's rotational speed is higher than the rotational speed of input bevel gear 6 and output bevel gear 7 in this application, and the running noise that has leaded to current scheme is greater than this scheme far away.
As shown in fig. 2, the rotating structure comprises a first adjusting shim 73 arranged between a first gear shaft 71 and a second gear shaft 81, a distance 74 is formed between the end surface of one end, embedded into the mounting groove 72, of the second gear shaft 81 and the bottom of the mounting groove 72, and the distance 74 is larger than the thickness of the first adjusting shim 73.
The adjustable range of the thickness of the first adjusting gasket 73 is 0-0.05 mm.
As shown in fig. 2, the input gear 8 is sleeved with a cylindrical support seat 82, the housing 1 is provided with an abutting step 13, one end of the support seat 82 protrudes outwards to form a shoulder 83, the shoulder 83 can be attached to the abutting step 13 and is positioned on the housing 1 through a screw 84, and the end of the screw 84 can abut against the abutting step 13.
As shown in fig. 3, an adjustment gap 14 is provided between the outer side wall of the support seat 82 and the inner side wall of the housing 1.
As shown in fig. 2, the other end of the supporting seat 82 protrudes inward to form a limiting baffle 85, one end of the second gear shaft 81, which is close to the output gear 21, protrudes to form a limiting ring 87, a plurality of first bearings 86 are arranged in the supporting seat 82, the first bearings 86 are all arranged between the limiting baffle 85 and the limiting ring 87, and the inner side walls of the first bearings 86 are all attached to the outer side walls of the second gear shaft 81.
As shown in fig. 2, the gear shaft third 51 of the output pulley 5 is provided with an adjustment groove 52, the gear shaft fourth 61 of the input bevel gear 6 can be inserted into the adjustment groove 52 and connected by a fastener 9, and a gap 62 is provided between an end surface of one end of the gear shaft fourth 61 inserted into the adjustment groove 52 and a groove bottom of the adjustment groove 52.
As shown in FIG. 3, an adjusting seat 63 is sleeved outside the input bevel gear 6, the housing 1 is protruded to form a blocking edge 15, a notch 64 is formed on the adjusting seat 63, and the blocking edge 15 can be embedded into the notch 64.
As shown in fig. 3, at least one second bearing 65 is arranged in the adjusting seat 63, a limit plate 66 is arranged on one end of the fourth gear shaft 61 away from the adjusting groove 52, the second bearing 65 is arranged between the limit plate 66 and the third gear shaft 51, and an adjusting shim second 67 is arranged between the limit plate 66 and the second bearing 65.
As shown in fig. 3, a limiting groove 68 is formed at one end of the adjusting seat 63 close to the output pulley 5, a gasket is arranged in the limiting groove 68 of the adjusting seat 63, and one of the two bearings 65 can abut against the gasket.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. A rotating structure of a robot comprises a shell (1), a driving motor (11) and a rotating shaft (2), the rotating shaft structure comprises an input belt wheel (3) which can be connected with a motor shaft (12) of the driving motor (11), the input belt wheel (3) is arranged in the shell (1), a tensioning belt (4) is sleeved on the input belt wheel (3), an output belt wheel (5) is sleeved on the tensioning belt (4), the rotating structure is characterized in that an input bevel gear (6) which is coaxial with the output belt wheel (5) is arranged in the shell (1), the input bevel gear (6) can axially move along the output belt wheel (5), the input bevel gear (6) is connected with an output bevel gear (7) in a meshing manner, a first gear shaft (71) of the output bevel gear (7) is provided with a mounting groove (72), the rotating shaft structure further comprises an input gear (8), and a second gear shaft (81) of the input gear (8) is embedded into the mounting groove (72), then the second gear shaft (81) can slide in the mounting groove (72) and is connected with the first gear shaft (71) through a fastener (9), and an output gear (21) meshed with the input gear (8) is arranged on the rotating shaft (2).
2. The rotary structure of a robot according to claim 1, wherein the rotary shaft structure comprises a first adjusting washer (73) disposed between a first gear shaft (71) and a second gear shaft (81), and a gap (74) is provided between an end surface of one end of the second gear shaft (81) inserted into the mounting groove (72) and a bottom of the mounting groove (72).
3. The rotating structure of the robot according to claim 1 or 2, wherein the input gear (8) is sleeved with a cylindrical supporting seat (82), the housing (1) is provided with an abutting step (13), one end of the supporting seat (82) protrudes outwards to form a blocking shoulder (83), the blocking shoulder (83) can be attached to the abutting step (13) and is positioned on the housing (1) through a screw (84), and the end of the screw (84) can abut against the abutting step (13).
4. The rotating structure of a robot according to claim 3, characterized in that there is an adjustment gap (14) between the outer side wall of the support seat (82) and the inner side wall of the housing (1).
5. The rotating structure of the robot according to claim 3, wherein the other end of the supporting seat (82) protrudes inward to form a limit baffle (85), the end of the gear shaft II (81) close to the output gear (21) protrudes to form a limit ring (87), a plurality of first bearings (86) are arranged in the supporting seat (82), the first bearings (86) are arranged between the limit baffle (85) and the limit ring (87), and the inner side walls of the first bearings (86) are attached to the outer side walls of the gear shaft II (81).
6. The rotating structure of the robot according to claim 1 or 2, wherein an adjusting groove (52) is formed in a gear shaft III (51) of the output pulley (5), a gear shaft IV (61) of the input bevel gear (6) can be embedded into the adjusting groove (52) and connected through a fastener (9), and a gap (62) is formed between an end face of one end of the gear shaft IV (61) embedded into the adjusting groove (52) and a groove bottom of the adjusting groove (52).
7. The rotating structure of the robot is characterized in that an adjusting seat (63) is sleeved outside the input bevel gear (6), the shell (1) is protruded to form a blocking edge (15), a notch (64) is formed in the adjusting seat (63), and the blocking edge (15) can be embedded into the notch (64).
8. The rotating structure of the robot according to claim 7, wherein at least one second bearing (65) is arranged in the adjusting seat (63), a limit plate (66) is arranged on one end of the gear shaft four (61) far away from the adjusting groove (52), the second bearing (65) is arranged between the limit plate (66) and the gear shaft three (51), and a second adjusting gasket (67) is arranged between the limit plate (66) and the second bearing (65).
9. The rotating structure of the robot as claimed in claim 7, wherein a limiting groove (68) is formed in one end of the adjusting seat (63) close to the output pulley (5), a gasket is arranged in the limiting groove (68) of the adjusting seat (63), and one of the second bearings (65) can abut against the gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920178944.6U CN209831694U (en) | 2019-01-31 | 2019-01-31 | Rotating structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920178944.6U CN209831694U (en) | 2019-01-31 | 2019-01-31 | Rotating structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209831694U true CN209831694U (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920178944.6U Active CN209831694U (en) | 2019-01-31 | 2019-01-31 | Rotating structure of robot |
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| Country | Link |
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| CN (1) | CN209831694U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605420A (en) * | 2019-01-31 | 2019-04-12 | 浙江钱江机器人有限公司 | A kind of rotational structure of robot |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
-
2019
- 2019-01-31 CN CN201920178944.6U patent/CN209831694U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605420A (en) * | 2019-01-31 | 2019-04-12 | 浙江钱江机器人有限公司 | A kind of rotational structure of robot |
| CN109605420B (en) * | 2019-01-31 | 2024-02-20 | 浙江钱江机器人有限公司 | Rotating structure of robot |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
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