CN212241047U - Multistage reduction gears of industrial robot hold-in range - Google Patents
Multistage reduction gears of industrial robot hold-in range Download PDFInfo
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- CN212241047U CN212241047U CN202020474804.6U CN202020474804U CN212241047U CN 212241047 U CN212241047 U CN 212241047U CN 202020474804 U CN202020474804 U CN 202020474804U CN 212241047 U CN212241047 U CN 212241047U
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- speed reducing
- reduction gears
- band pulley
- reducing mechanism
- synchronous belt
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Abstract
A synchronous belt multi-stage speed reducing mechanism of an industrial robot comprises a driving motor, a multi-stage speed reducing structure and a tail end executing mechanism, wherein the driving motor is connected with the tail end executing mechanism through the multi-stage speed reducing structure and drives the tail end executing mechanism; the multi-stage speed reducing structure comprises at least one synchronous belt speed reducing mechanism, a transmission mechanism in meshing transmission with the synchronous belt speed reducing mechanism, and a tail end speed reducing mechanism in meshing transmission with the transmission mechanism; the driving motor is connected with the synchronous belt speed reducing mechanism, and the tail end speed reducing mechanism is connected with the tail end executing structure. The utility model relates to an output torque is high, simple structure, the multistage reduction gears of industrial robot hold-in range of being convenient for assembly and use.
Description
Technical Field
The utility model relates to an industrial robot's accessory structure technical field, concretely relates to industrial robot hold-in range multistage reduction gears.
Background
The speed reducer and the speed reducing mechanism of the robot are required to have the characteristics of high transmission efficiency, small volume, high power, light weight, easy control and the like. The existence of the speed reducer and the speed reducing mechanism enables the servo motor to operate at a proper speed, and accurately reduces the rotating speed to the speed required by each part of the industrial robot, thereby improving the rigidity of the mechanical body and outputting larger moment.
At present, the widely used robot speed reducer and speed reducing mechanism mainly comprise an RV speed reducer, a harmonic speed reducer and a gear speed reducing mechanism. RV reduction gear, harmonic reducer ware are because the single, the great characteristic of self weight of mounting means to can not adapt to all installation occasions, especially the end joint of robot, the structure is complicated, small, and it is big to adopt RV reduction gear, harmonic reducer ware design degree of difficulty, and the wholeness of in-service use is poor, and RV reduction gear, harmonic reducer ware are expensive simultaneously, and use cost is high. The output torque of the existing gear reduction mechanism is not high, the manufacturing process of the gear reduction mechanism is complex, the precision requirement on a matched body part is high, and the manufacturing cost is quite high; the requirement on the professional skills of an assembler is high, so that the difficulty in installation and use is high.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides an output torque is high, simple structure, the industrial robot hold-in range multistage reduction gears of being convenient for assembly and use.
The utility model provides a technical scheme that above-mentioned technical problem adopted does:
a synchronous belt multi-stage speed reducing mechanism of an industrial robot comprises a driving motor, a multi-stage speed reducing structure and a tail end executing mechanism, wherein the driving motor is connected with the tail end executing mechanism through the multi-stage speed reducing structure and drives the tail end executing mechanism; the multi-stage speed reducing structure comprises at least one synchronous belt speed reducing mechanism, a transmission mechanism in meshing transmission with the synchronous belt speed reducing mechanism, and a tail end speed reducing mechanism in meshing transmission with the transmission mechanism; the driving motor is connected with the synchronous belt speed reducing mechanism, and the tail end speed reducing mechanism is connected with the tail end executing structure; the synchronous belt speed reducing mechanism comprises a large belt wheel and a small belt wheel which are connected by a synchronous belt, the small belt wheel is connected with a driving shaft of a driving motor, and the large belt wheel is connected with the small belt wheel of the secondary synchronous belt speed reducing mechanism or connected with a transmission mechanism; the transmission mechanism comprises a transmission shaft and transmission gears at two ends; the tail end speed reducing mechanism is in a gear structure of the tail end speed reducing mechanism; the outer diameter of the small belt wheel is smaller than that of the large belt wheel, and the outer diameter of the transmission gear is smaller than that of the large belt wheel and that of the gear structure of the tail end speed reducing mechanism.
Further, the multi-stage speed reducing structure comprises two synchronous belt speed reducing mechanisms or three synchronous belt speed reducing mechanisms.
Further, two hold-in range reduction gears divide into one-level reduction gear and second grade reduction gear, one-level reduction gear's little band pulley and driving motor's drive shaft connection, one-level reduction gear's little band pulley passes through the hold-in range with big band pulley and is connected, one-level reduction gear's big band pulley's both sides are provided with bearing frame and second grade reduction gear's little band pulley respectively, second grade reduction gear's little band pulley and big band pulley pass through the hold-in range and connect, one side of second grade reduction gear's big band pulley is provided with the driving gear of driving transmission shaft and driving transmission shaft tip.
Further, three hold-in range reduction gears divide into one-level reduction gears, second grade reduction gears and tertiary reduction gears, one-level reduction gears's little band pulley and driving motor's drive shaft connection, one-level reduction gears's little band pulley passes through the hold-in range with big band pulley and is connected, one-level reduction gears's big band pulley's both sides are provided with bearing frame and second grade reduction gears's little band pulley respectively, second grade reduction gears's little band pulley and big band pulley pass through the hold-in range and connect, second grade reduction gears's big band pulley's both sides are provided with bearing frame and tertiary reduction gears's little band pulley respectively, tertiary reduction gears's little band pulley and big band pulley pass through the hold-in range and connect, one side of tertiary reduction gears's big band pulley is provided.
Furthermore, the outer diameter specifications of the large belt wheels of the synchronous belt speed reducing mechanisms are the same, and the outer diameter specifications of the small belt wheels of the synchronous belt speed reducing mechanisms are the same.
Furthermore, deep groove ball bearings are respectively arranged on transmission shafts on the inner sides of the transmission gears at the two ends of the transmission mechanism.
Further, drive gear include with hold-in range reduction gears on the driving gear meshing pass the drive mechanism driven gear that connects and with the drive mechanism driving gear that the meshing of terminal reduction gears passed the connection, the tooth that drive mechanism driven gear and drive mechanism driving gear connect the external diameter all be less than hold-in range reduction gears on big band pulley external diameter and terminal reduction gears structure external diameter.
Furthermore, a crossed roller bearing is arranged between the gear structure of the tail end speed reducing mechanism and the tail end actuating mechanism.
Compared with the prior art, the utility model discloses the advantage that possesses does:
1. the utility model discloses a multistage reducing mechanism of industrial robot hold-in range adopts the hold-in range reducing mechanism, and the hold-in range reducing mechanism adopts the hold-in range to pass and connects, reaches zero clearance to pass and connects the effect, makes the conversion of the terminal executive action of industrial robot link up more smoothly;
2. the industrial robot synchronous belt multistage speed reducing mechanism has simple structure, low manufacturing cost, easy assembly and use and low technical requirements on installation, operation and use of technicians;
3. the belt wheel multi-stage speed reducing mechanism has changeable structure and flexible application, and can be applied to various occasions;
4. the servo motor runs at a proper speed by adopting a synchronous belt multi-stage speed reduction mode, and the output torque of the industrial robot is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
In the figure, 1-driving motor, 2-multi-stage speed reducing mechanism, 3-end actuating mechanism, 4-crossed roller bearing, 21-synchronous belt speed reducing mechanism, 22-transmission mechanism, 23-end speed reducing mechanism, 211-big belt wheel, 212-small belt wheel, 213-synchronous belt, 214-first-stage speed reducing mechanism, 215-second-stage speed reducing mechanism, 216-bearing seat, 217-driving gear on the synchronous belt speed reducing mechanism, 218-driving transmission shaft, 221-deep groove ball bearing, 222-transmission mechanism driven gear, 223-transmission mechanism driving gear and 224-transmission shaft.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following examples. Any equivalent modifications made by those skilled in the art in the light of the present disclosure are intended to be within the scope of the present disclosure.
Referring to fig. 1, the industrial robot synchronous belt multi-stage speed reducing mechanism comprises a driving motor 1, a multi-stage speed reducing structure 2 and a terminal executing mechanism 3, wherein the driving motor 1 is connected with the terminal executing mechanism 3 through the multi-stage speed reducing structure 2 and drives the terminal executing mechanism 3; the multi-stage speed reducing structure 2 comprises at least one synchronous belt speed reducing mechanism 21, a transmission mechanism 22 in meshing transmission with the synchronous belt speed reducing mechanism 21, and a tail end speed reducing mechanism 23 in meshing transmission with the transmission mechanism 22; the driving motor 1 is connected with a synchronous belt speed reducing mechanism 21, and the tail end speed reducing mechanism 23 is connected with a tail end executing structure; the synchronous belt speed reducing mechanism 21 comprises a large belt wheel 211 and a small belt wheel 212 which are connected by a synchronous belt 213, the small belt wheel 212 is connected with a driving shaft of the driving motor 1, the large belt wheel 211 is connected with the small belt wheel 212 of the secondary synchronous belt speed reducing mechanism 21 (when the multi-stage speed reducing mechanism 2 comprises a plurality of synchronous belt speed reducing mechanisms 21) or connected with the transmission mechanism 22 (when the multi-stage speed reducing mechanism 2 only comprises one synchronous belt speed reducing mechanism 21); the transmission mechanism 22 comprises a transmission shaft 224 and transmission gears at two ends; the tail end speed reducing mechanism 23 is in a gear structure of the tail end speed reducing mechanism 23; the outer diameter of the small belt wheel 212 is smaller than that of the large belt wheel 211, and the outer diameter of the transmission gear is smaller than that of the gear structures of the large belt wheel 211 and the tail end speed reducing mechanism 23.
Further, the multi-stage speed reducing mechanism 2 includes two synchronous belt speed reducing mechanisms 21 or three synchronous belt speed reducing mechanisms 21.
In one embodiment, i.e. the structure shown in fig. 1, the two synchronous belt speed reducing mechanisms 21 are divided into a first-stage speed reducing mechanism 214 and a second-stage speed reducing mechanism 214, the small pulley 212 of the first-stage speed reducing mechanism 214 is connected with the driving shaft of the driving motor 1, the small pulley 212 of the first-stage speed reducing mechanism 214 is connected with the large pulley 211 through a synchronous belt, a bearing seat 216 and the small pulley 212 of the second-stage speed reducing mechanism 215 are respectively arranged on two sides of the large pulley 211 of the first-stage speed reducing mechanism 214, the small pulley 212 and the large pulley 211 of the second-stage speed reducing mechanism 215 are connected through a synchronous belt, and a driving transmission shaft 218 and a driving gear 217 at the end of the driving transmission shaft 218 are.
In another embodiment, the three synchronous belt speed reducing mechanisms 21 are divided into a primary speed reducing mechanism, a secondary speed reducing mechanism and a tertiary speed reducing mechanism, the small belt wheel 212 of the first-level speed reducing mechanism is connected with a driving shaft of the driving motor 1, the small belt wheel 212 of the first-level speed reducing mechanism is connected with the large belt wheel 211 through a synchronous belt, a bearing seat 216 and the small belt wheel 212 of the second-level speed reducing mechanism are respectively arranged on two sides of the large belt wheel 211 of the first-level speed reducing mechanism, the small belt wheel 212 of the second-level speed reducing mechanism is connected with the large belt wheel 211 through the synchronous belt, a bearing seat 216 and the small belt wheel 212 of the third-level speed reducing mechanism are respectively arranged on two sides of the large belt wheel 211 of the second-level speed reducing mechanism, the small belt wheel 212 of the third-level speed reducing mechanism is connected with the large belt wheel 211 through the synchronous belt, and a driving.
Further, the outer diameter specifications of the large pulleys 211 of the plurality of timing belt speed reduction mechanisms 21 are the same, and the outer diameter specifications of the small pulleys 212 of the plurality of timing belt speed reduction mechanisms 21 are the same.
Furthermore, deep groove ball bearings 221 are respectively arranged on the transmission shafts on the inner sides of the transmission gears at the two ends of the transmission mechanism 22.
Further, the transmission gear includes a driven gear 222 of the transmission mechanism 22 engaged and transmitted with the driving gear 217 of the synchronous belt speed reducing mechanism 21 and a driving gear 223 of the transmission mechanism 22 engaged and transmitted with the terminal speed reducing mechanism 23, and the tooth joint outer diameters of the driven gear 222 of the transmission mechanism 22 and the driving gear 223 of the transmission mechanism 22 are smaller than the outer diameter of the large belt wheel 211 of the synchronous belt speed reducing mechanism 21 and the gear structure outer diameter of the terminal speed reducing mechanism 23. The driving gear 217 on the synchronous belt speed reducing mechanism and the driven gear 222 of the transmission mechanism realize transmission by adopting a meshing mode of corner gears.
Furthermore, a crossed roller bearing 4 is arranged between the gear structure of the tail end speed reducing mechanism 23 and the tail end actuating mechanism 3.
The utility model discloses a multistage reduction gears of industrial robot hold-in range passes through motor drive hold-in range reduction gears 21, and the mode through multistage speed reduction makes servo motor operate under a suitable speed, increases output torque and transmission rigidity simultaneously, improves industrial robot's output torque greatly.
Claims (8)
1. The utility model provides an industrial robot hold-in range multistage reduction gears which characterized in that: the device comprises a driving motor, a multi-stage speed reducing structure and a tail end executing mechanism, wherein the driving motor is connected with the tail end executing mechanism through the multi-stage speed reducing structure and drives the tail end executing mechanism; the multi-stage speed reducing structure comprises at least one synchronous belt speed reducing mechanism, a transmission mechanism in meshing transmission with the synchronous belt speed reducing mechanism, and a tail end speed reducing mechanism in meshing transmission with the transmission mechanism; the driving motor is connected with the synchronous belt speed reducing mechanism, and the tail end speed reducing mechanism is connected with the tail end executing structure; the synchronous belt speed reducing mechanism comprises a large belt wheel and a small belt wheel which are connected by a synchronous belt, the small belt wheel is connected with a driving shaft of a driving motor, and the large belt wheel is connected with the small belt wheel of the secondary synchronous belt speed reducing mechanism or connected with a transmission mechanism; the transmission mechanism comprises a transmission shaft and transmission gears at two ends; the tail end speed reducing mechanism is in a gear structure of the tail end speed reducing mechanism; the outer diameter of the small belt wheel is smaller than that of the large belt wheel, and the outer diameter of the transmission gear is smaller than that of the large belt wheel and that of the gear structure of the tail end speed reducing mechanism.
2. The industrial robot synchronous belt multistage speed reducing mechanism according to claim 1, characterized in that: the multi-stage speed reducing structure comprises two synchronous belt speed reducing mechanisms or three synchronous belt speed reducing mechanisms.
3. The industrial robot synchronous belt multistage speed reducing mechanism according to claim 2, characterized in that: two hold-in range reduction gears divide into one-level reduction gears and second grade reduction gears, one-level reduction gears's little band pulley and driving motor's drive shaft connection, one-level reduction gears's little band pulley passes through the hold-in range with big band pulley and is connected, one-level reduction gears's big band pulley's both sides are provided with bearing frame and second grade reduction gears's little band pulley respectively, second grade reduction gears's little band pulley and big band pulley pass through the hold-in range and connect, one side of second grade reduction gears's big band pulley is provided with the driving gear of driving transmission shaft and driving transmission shaft tip.
4. The industrial robot synchronous belt multistage speed reducing mechanism according to claim 2, characterized in that: three hold-in range reduction gears divide into one-level reduction gears, second grade reduction gears and tertiary reduction gears, one-level reduction gears's little band pulley and driving motor's drive shaft connection, one-level reduction gears 'little band pulley passes through the hold-in range with big band pulley and is connected, the both sides of one-level reduction gears's big band pulley are provided with bearing frame and second grade reduction gears 'little band pulley respectively, second grade reduction gears's little band pulley and big band pulley pass through the hold-in range and connect, the both sides of second grade reduction gears's big band pulley are provided with bearing frame and tertiary reduction gears's little band pulley respectively, tertiary reduction gears's little band pulley and big band pulley pass through the hold-in range and connect, one side of tertiary reduction gears's big band pulley is provided.
5. An industrial robot synchronous belt multistage reduction mechanism according to any one of claims 1 to 4, characterized in that: the synchronous belt speed reducing mechanism has the same outer diameter specification of the large belt wheel and the same outer diameter specification of the small belt wheel.
6. The industrial robot synchronous belt multistage speed reducing mechanism according to claim 1, characterized in that: deep groove ball bearings are respectively arranged on the transmission shafts on the inner sides of the transmission gears at the two ends of the transmission mechanism.
7. The industrial robot synchronous belt multistage speed reducing mechanism according to claim 1 or 6, characterized in that: the drive gear include with hold-in range reduction gears on the driving gear meshing pass the drive mechanism driven gear that connects and pass the drive mechanism driving gear that connects with the meshing of terminal reduction gears, the tooth of drive mechanism driven gear and drive mechanism driving gear connect the external diameter and all be less than big band pulley external diameter and terminal reduction gears gear structure external diameter on the hold-in range reduction gears.
8. The industrial robot synchronous belt multistage speed reducing mechanism according to claim 1, characterized in that: and a crossed roller bearing is arranged between the gear structure of the tail end speed reducing mechanism and the tail end executing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020474804.6U CN212241047U (en) | 2020-04-03 | 2020-04-03 | Multistage reduction gears of industrial robot hold-in range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020474804.6U CN212241047U (en) | 2020-04-03 | 2020-04-03 | Multistage reduction gears of industrial robot hold-in range |
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| Publication Number | Publication Date |
|---|---|
| CN212241047U true CN212241047U (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020474804.6U Active CN212241047U (en) | 2020-04-03 | 2020-04-03 | Multistage reduction gears of industrial robot hold-in range |
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| Country | Link |
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| CN (1) | CN212241047U (en) |
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- 2020-04-03 CN CN202020474804.6U patent/CN212241047U/en active Active
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