CN214560916U - Nested bevel gear transmission module for heavy-duty robot - Google Patents
Nested bevel gear transmission module for heavy-duty robot Download PDFInfo
- Publication number
- CN214560916U CN214560916U CN202120699946.7U CN202120699946U CN214560916U CN 214560916 U CN214560916 U CN 214560916U CN 202120699946 U CN202120699946 U CN 202120699946U CN 214560916 U CN214560916 U CN 214560916U
- Authority
- CN
- China
- Prior art keywords
- shaft
- bearing
- bevel gear
- transmission shaft
- external spline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
A nested bevel gear transmission module for a heavy-duty robot, comprising: the six-shaft external spline transmission shaft is arranged in the embedded sleeve, one end of the six-shaft external spline transmission shaft is provided with a six-shaft input bevel gear, the six-shaft external spline transmission shaft is provided with a first bearing and a second bearing, and one end of the second bearing, which is far away from the six-shaft input bevel gear, is sequentially sleeved with a ring, a stop washer and a locknut in threaded connection with the six-shaft external spline transmission shaft; the five-shaft external spline transmission shaft is provided with a five-shaft input bevel gear at one end, an annular bulge is formed in the middle position of the inner wall of the five-shaft external spline transmission shaft, a third bearing and a fourth bearing are arranged on the five-shaft external spline transmission shaft, and a large nut is arranged on the side of the fourth bearing; the first elastic mechanism is arranged between the annular bulge and the first bearing; and the second elastic mechanism is arranged between the third bearing and the embedded inner wall protrusion. The nested bevel gear transmission module for the heavy-duty robot can be used for fine adjustment of the axial assembly size and axial pre-tightening and axial locking of a mechanism, so that the production difficulty and the production cost are reduced.
Description
[ technical field ] A method for producing a semiconductor device
The utility model belongs to the technical field of industrial robot, concretely relates to nested bevel gear drive module for heavy load robot.
[ background of the invention ]
At present, for the purpose of structural compactness and light weight, an internal transmission mechanism of a wrist joint transmission mechanism of a heavy-load six-degree-of-freedom industrial robot with the load capacity of more than 165kg generally adopts a transmission mode of combining a spline shaft with a bevel gear to complete the transmission of a fifth joint and a sixth joint of the robot; the difficulty in the robot manufacturing process is that when two pairs of bevel gears meshed with each other by the robot are assembled, due to part manufacturing errors and assembly errors, the axial clearance of the bevel gears deviates from a design theoretical value; the axial meshing clearance of the bevel gear is too tight, so that the gear is abraded too fast and is easy to block when running at high speed, and the transmission precision is influenced and the running noise is large due to too large clearance; in the prior art, the assembly of the wrist joint transmission mechanism is complex, whether the assembly is qualified after the assembly can be found only by performing the running-in test on the complete machine or performing the running-in test on the robot wrist joint assembly, the production difficulty is large, and the cost is high.
[ Utility model ] content
To the above problem, the utility model provides a heavy load robot is with nested bevel gear transmission module, it can finely tune to axial fitting dimension, also can carry out axial pretension and axial lock to the mechanism and die to fine solution above-mentioned problem.
The utility model discloses a realize through following technical scheme, provide a heavy load robot is with nested bevel gear drive module, it is located in the inlay, nested inner wall is equipped with six meshing bevel gears, five meshing bevel gears face-to-face, and this bevel gear drive module includes:
the six-shaft external spline transmission shaft is axially arranged in the embedded sleeve, a six-shaft input bevel gear meshed with the six-shaft meshed bevel gear is fixedly arranged at one end, away from the spline, of the six-shaft external spline transmission shaft, two first bearings are arranged at one end, close to the six-shaft input bevel gear, of the six-shaft external spline transmission shaft, a second bearing is arranged at one end, close to the spline, of the six-shaft external spline transmission shaft, a key groove is axially formed at one end, close to the spline, of the six-shaft external spline transmission shaft, a circular ring, a stop washer and a locknut in threaded connection with the six-shaft external spline transmission shaft are sequentially sleeved at one end, away from the six-shaft input bevel gear, and a positioning block matched with the key groove is arranged on the inner wall of the stop washer;
the five-shaft external spline transmission shaft is sleeved on the outer side of the six-shaft external spline transmission shaft, a five-shaft input bevel gear meshed with the five-shaft meshed bevel gear is arranged at one end, away from the spline, of the five-shaft external spline transmission shaft, an annular bulge is formed by extending the middle position of the inner wall of the five-shaft external spline transmission shaft towards the inner axis side, the first bearing and the second bearing are respectively arranged on two sides of the annular bulge, outer rings of the first bearing and the second bearing are respectively contacted with the inner wall of the five-shaft external spline transmission shaft, a third bearing is arranged at one end, close to the five-shaft input bevel gear, of the five-shaft external spline transmission shaft, a fourth bearing is arranged at one end, close to the spline, of the five-shaft external spline transmission shaft, outer rings of the third bearing and the fourth bearing are respectively contacted with the nested inner wall, and a large nut in threaded connection with the five-shaft external spline transmission shaft is arranged at one end, close to the replacement part, of the fourth bearing;
the first elastic mechanism is arranged between the annular bulge and the first bearing and is composed of two groups of small conical elastic inner gaskets, the two groups of small conical elastic inner gaskets are arranged back to back, and each group comprises six small conical elastic inner gaskets;
and the second elastic mechanism is arranged between the third bearing and the embedded inner wall protrusion and is composed of two groups of large conical elastic inner gaskets which are arranged back to back, and each group comprises three to six large conical elastic inner gaskets.
Particularly, a positioning boss is arranged at one end, far away from the spline, of the six-shaft external spline transmission shaft, and the six-shaft input bevel gear is fixedly arranged on the positioning boss by adopting 7 screws to realize locking with the six-shaft external spline transmission shaft.
In particular, the outer diameter of the circular ring is not larger than the outer diameter of the inner ring of the second bearing.
Particularly, the five-axis input bevel gear is fixed at one end, far away from the spline, of the five-axis external spline transmission shaft by adopting 6 screws.
Particularly, the outer wall of the large nut is radially provided with a half annular groove.
The utility model provides a heavy load robot is with nested bevel gear drive module has following beneficial effect:
1. the bevel gear axial clearance can be subjected to fine adjustment and axial pre-tightening simultaneously, the structure is simple and exquisite, the requirements of overall axial installation and transmission size adjustment of a key transmission assembly of a robot can be met, the size measurable and fine-adjustable requirements after physical assembly are met, the functions of pre-tightening and locking are realized, and the structure is exquisite, stable and reliable;
2. the testing device can be independently used as a part or an assembly for assembly, after the whole dimension measurement is qualified, the testing device can be connected to perform the function performance test of the local key transmission mechanism, and the assembly is installed in the robot transmission chain after the function performance of the assembly is normal, so that the faults can be effectively reduced, and the qualified rate of finished robot wrist joints is improved.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of a nested bevel gear transmission module for a heavy-duty robot according to the present invention;
fig. 2 is a front view of the nested bevel gear transmission module for a heavy-duty robot according to the present invention;
fig. 3 is a cross-sectional view of the nested bevel gear transmission module for a heavy-duty robot according to the present invention;
fig. 4 is a schematic structural view of a six-axis external spline transmission shaft in a nested bevel gear transmission module for a heavy-duty robot according to the present invention;
fig. 5 is a schematic structural view of a five-axis external spline transmission shaft in the nested bevel gear transmission module for a heavy-duty robot according to the present invention;
fig. 6 is a schematic structural view of a large nut in the nested bevel gear transmission module for a heavy-duty robot according to the present invention;
fig. 7 is the utility model relates to an assembly cross-sectional view of five external splines transmission shaft among nested bevel gear drive module for heavy-duty robot.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings.
Referring to fig. 1-7, the utility model provides a heavy load robot is with nested bevel gear drive module, it locates in nested 1, nested inner wall is equipped with six meshing bevel gears 2, five meshing bevel gears 3 face-to-face, and this bevel gear drive module includes:
a six-shaft external spline transmission shaft 4 axially arranged in the nest 1, one end of the transmission shaft far away from the spline is provided with a positioning lug boss 20, a six-shaft input bevel gear 5 meshed with the six-shaft meshing bevel gear 2 is locked and fixed on the positioning boss 20 by adopting 7 screws, and one end of the six-shaft external spline transmission shaft 4 close to the six-shaft input bevel gear 5 is provided with two first bearings 6, one end close to the spline is provided with a second bearing 7, and one end of the six-shaft external spline transmission shaft 4 close to the spline is axially provided with a key groove 8, one end of the second bearing 7 far away from the six-shaft input bevel gear 5 is sequentially sleeved with a circular ring 9, a stop washer 10 and a locknut 11 in threaded connection with the six-shaft external spline transmission shaft 4, a positioning block (not shown) corresponding to the key groove 8 is arranged on the inner wall of the lock washer 10, and the positioning block is matched with the key groove, so that the lock washer can only move axially but cannot rotate;
a five-axis external spline transmission shaft 12 sleeved outside the six-axis external spline transmission shaft 4, a five-axis input bevel gear 13 meshed with the five-axis meshed bevel gear 3 is locked and fixed at one end far away from the spline through 6 screws, and the middle position of the inner wall of the five-axis external spline transmission shaft 12 extends towards the inner axis side to form an annular bulge 14, the first bearing 6 and the second bearing 7 are respectively arranged at two sides of the annular bulge 14, and the outer rings of the first bearing 6 and the second bearing 7 are respectively contacted with the inner wall of a five-shaft external spline transmission shaft 12, one end of the five-axis external spline transmission shaft 12 close to the five-axis input bevel gear 13 is provided with a third bearing 15, one end close to the spline is provided with a fourth bearing 16, the outer rings of the third bearing 15 and the fourth bearing 16 are respectively contacted with the inner wall of the nest 1, one end of the fourth bearing 16, which is close to the replacement part, is provided with a large nut 17 in threaded connection with the five-axis external spline transmission shaft 12;
the first elastic mechanism 18 is arranged between the annular bulge 14 and the first bearing 6 and is two groups of small conical elastic inner gaskets which are arranged back to back, and each group comprises six small conical elastic inner gaskets;
and the second elastic mechanism 19 is arranged between the third bearing 15 and the inner wall of the nest 1 and is two groups of large conical elastic inner gaskets which are arranged back to back, and each group comprises three to six large conical elastic inner gaskets.
In particular, the outer diameter of the circular ring 9 is not larger than the outer diameter of the inner ring of the second bearing 7; so design, the ring can play an isolation to second bearing and lock washer, prevents that lock washer from influencing the rotation of second bearing outer lane, can avoid the ring to produce the influence to the rotation of second bearing outer lane simultaneously.
Particularly, a half annular groove 21 is radially formed in the outer wall of the large nut 17; the semi-annular groove can conveniently adjust the axial position of the large nut on the five-axis external spline transmission shaft, so that the elastic deformation of the large conical elastic external washer group in the second elastic mechanism 19 is realized, and meanwhile, under the condition of screwing down through the screw, the elastic deformation is generated under the action of the semi-annular groove, so that the large nut is conveniently locked.
In the utility model, the positioning boss plays a positioning role for the six-axis input bevel gear 5, and the end surface of the five-axis external spline transmission shaft far away from the spline plays a positioning role for the matching of the five-axis input bevel gear; the first elastic mechanism is positioned between the first bearing and the annular bulge, can provide axial pretension for the six-shaft input bevel gear, and can adjust the axial clearance according to the elastic deformation distance of the first elastic mechanism; the inner rings of the first bearing and the second bearing are matched with the six-shaft external spline transmission shaft, and the outer ring of the first bearing and the second bearing is matched with the inner wall of the five-shaft external spline transmission shaft, so that the six-shaft external spline transmission shaft can perform rotary motion in an inner hole of the five-shaft external spline transmission shaft; the conical elastic inner washer set is deformed by locking the axis of the locknut, the deformation distance is used for adjusting the axial clearance of the six-shaft input gear, and the elastic force of the small conical elastic inner washer set is used as the axial pre-tightening force of the six-shaft input gear; the second elastic mechanism is positioned between the third bearing 15 and the inner wall bulge of the nest 1, can provide axial pre-tightening for the five-axis input gear, and can adjust the axial clearance according to the elastic deformation distance of the large-cone-shaped elastic inner washer set; the inner rings of the third bearing and the fourth bearing are matched with the five-axis external spline transmission shaft, and the outer ring of the third bearing and the fourth bearing are matched with the nested inner wall, so that the five-axis external spline transmission shaft can perform rotary motion in the nested inner hole.
Claims (5)
1. The utility model provides a heavy load robot is with nested bevel gear transmission module, it locates in nested (1), nested inner wall is equipped with six meshing bevel gears (2), five meshing bevel gears (3) face to face, its characterized in that, this bevel gear transmission module includes:
the six-shaft external spline transmission shaft is axially arranged in the nest (1), one end, far away from the spline, of the six-shaft external spline transmission shaft (4) is fixedly provided with a six-shaft input bevel gear (5) meshed with the six-shaft meshing bevel gear (2), one end, close to the spline, of the six-shaft external spline transmission shaft (4) is provided with two first bearings (6), one end, close to the spline, of the six-shaft input bevel gear (5) is provided with a second bearing (7), one end, close to the spline, of the six-shaft external spline transmission shaft (4) is axially provided with a key groove (8), one end, far away from the six-shaft input bevel gear (5), of the second bearing (7) is sequentially sleeved with a ring (9), a stop washer (10) and a lock nut (11) in threaded connection with the six-shaft external spline transmission shaft (4), and the inner wall of the stop washer (10) is provided with a positioning block matched with the key groove (8);
the five-axis external spline transmission shaft (12) is sleeved on the outer side of the six-axis external spline transmission shaft (4), a five-axis input bevel gear (13) meshed with the five-axis meshing bevel gear (3) is arranged at one end, away from the spline, of the five-axis external spline transmission shaft (12), an annular bulge (14) is formed by extending the middle position of the inner wall of the five-axis external spline transmission shaft (12) to the inner axis side, the first bearing (6) and the second bearing (7) are respectively arranged on two sides of the annular bulge (14), the outer rings of the first bearing (6) and the second bearing (7) are respectively contacted with the inner wall of the five-axis external spline transmission shaft (12), a third bearing (15) is arranged at one end, close to the spline, of the five-axis external spline transmission shaft (12), a fourth bearing (16) is arranged at one end, close to the five-axis input bevel gear (13), and the outer rings of the third bearing (15) and the fourth bearing (16) are respectively contacted with the inner wall of the nesting sleeve (1), one end of the fourth bearing (16) close to the replacement part is provided with a large nut (17) in threaded connection with the five-axis external spline transmission shaft (12);
the first elastic mechanism (18) is arranged between the annular bulge (14) and the first bearing (6) and is two groups of small conical elastic inner gaskets, the two groups of small conical elastic inner gaskets are arranged back to back, and each group comprises six small conical elastic inner gaskets;
and a second elastic mechanism (19) arranged between the third bearing (15) and the inner wall of the nest (1) in a protruding mode is two groups of large conical elastic inner gaskets, the two groups of large conical elastic inner gaskets are arranged back to back, and each group comprises three to six large conical elastic inner gaskets.
2. The nested bevel gear transmission module for the heavy-duty robot is characterized in that one end, far away from the spline, of the six-shaft externally splined transmission shaft (4) is provided with a positioning boss (20), and the six-shaft input bevel gear (5) is fixedly arranged on the positioning boss (20) by adopting 7 screws to realize locking with the six-shaft externally splined transmission shaft (4).
3. A nested bevel gear transmission module for a heavy-duty robot according to claim 1, characterized in that the outer diameter of the ring (9) is not larger than the outer diameter of the inner ring of the second bearing (7).
4. The nested bevel gear transmission module for a heavy-duty robot according to claim 1, characterized in that the five-axis input bevel gear (13) is fixed to the end of the five-axis externally splined transmission shaft (12) away from the splines using 6 screws.
5. The nested bevel gear transmission module for the heavy-duty robot as claimed in claim 1, wherein the outer wall of the large nut (17) is radially provided with a half annular groove (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120699946.7U CN214560916U (en) | 2021-04-07 | 2021-04-07 | Nested bevel gear transmission module for heavy-duty robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120699946.7U CN214560916U (en) | 2021-04-07 | 2021-04-07 | Nested bevel gear transmission module for heavy-duty robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214560916U true CN214560916U (en) | 2021-11-02 |
Family
ID=78323495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120699946.7U Active CN214560916U (en) | 2021-04-07 | 2021-04-07 | Nested bevel gear transmission module for heavy-duty robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214560916U (en) |
-
2021
- 2021-04-07 CN CN202120699946.7U patent/CN214560916U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2017152429A1 (en) | Two-stage parallel cycloid ball reducer | |
| US11754162B2 (en) | Double-flexspline harmonic reducer | |
| CN110185748B (en) | Integrated robot joint structure | |
| CN111022608B (en) | Two-stage sine hammer-shaped roller oscillating tooth speed reducer | |
| CN106352024A (en) | Single-eccentric short transmission chain speed reducer | |
| US11067150B2 (en) | Transmission speed reduction device | |
| CN102003500A (en) | Cycloid speed reducer | |
| WO2019120035A1 (en) | Rolling cycloid planetary transmission mechanism | |
| CN104455226A (en) | Three cycloidal gear type RV speed reducer | |
| CN210115933U (en) | Robot wrist | |
| CN214560916U (en) | Nested bevel gear transmission module for heavy-duty robot | |
| CN112228516B (en) | Industrial robot precision speed reducer | |
| CN113635341A (en) | End transmission structure of industrial robot wrist transmission structure | |
| CN101413577B (en) | Helical gear and gap eliminating structure | |
| CN111043275B (en) | Small-size doublestage hammer shape roller oscillating tooth reduction gear | |
| CN215980646U (en) | Elastic eccentric speed reducer | |
| CN110836223A (en) | Crossed roller bearing and speed reducer | |
| CN214661789U (en) | RV reducer adopting herringbone gear planetary reduction mechanism | |
| CN107882928B (en) | Duplex cycloidal reducer | |
| CN215202053U (en) | End transmission structure of industrial robot wrist transmission structure | |
| CN210034303U (en) | Single-stage large transmission ratio gear reducer | |
| CN210318407U (en) | Integrated robot joint structure | |
| CN114877032A (en) | Large-torque high-rigidity robot joint reducer | |
| KR100641651B1 (en) | Structure of self-centering type for satellite gear decelerate | |
| CN210548651U (en) | Bevel gear internal gear electrolytic machining movement device with small reference circle diameter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211213 Address after: 710086 room F902, 9 / F, block 4-C, Xixian financial port, Fengdong new town energy Jinmao District, Xixian new area, Xi'an City, Shaanxi Province Patentee after: Shaanxi Liqin zhinuo Robot Technology Co.,Ltd. Address before: 712000 Xianyang province Shaanxi City Weicheng District Wenhui Road No. 12 Patentee before: SHAANXI POLYTECHNIC INSTITUTE |