CN216200389U

CN216200389U - Integrated high-precision RV reducer suitable for tail end arm of robot

Info

Publication number: CN216200389U
Application number: CN202122393040.5U
Authority: CN
Inventors: 张航; 张楠; 王硕
Original assignee: Wuhu Aoyi Precision Machinery Co ltd
Current assignee: Wuhu Aoyi Precision Machinery Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-04-05
Anticipated expiration: 2031-09-30

Abstract

The utility model discloses an integrated high-precision RV reducer suitable for a robot tail end arm, which comprises a cover cap, a gear shaft and an RV reducer, wherein the planetary gear side of the RV reducer is provided with the cover cap, and the contact end surface of the cover cap and a shell of the RV reducer is provided with an O-shaped ring; further comprising: the first framework oil seal and the second framework oil seal are arranged between the cover cap and the gear shaft and used for plugging grease; and the deep groove ball bearing and the shaft snap ring are arranged on the inner side of the RV reducer and are used for improving the stability of power input. This integral type high accuracy RV reduction gear suitable for terminal arm of robot adopts the integral type design, can pour into the reduction gear inside with the grease in advance, need not pour into the grease into on the robot, and can hide servo motor power line inside the reduction gear, reduce because of the power line that the robot gesture change caused drags wearing and tearing, increase adaptability and the aesthetic property of robot to the environment.

Description

Integrated high-precision RV reducer suitable for tail end arm of robot

Technical Field

The utility model relates to the technical field of speed reducers, in particular to an integrated high-precision RV speed reducer suitable for a tail end arm of a robot.

Background

The RV reducer is widely applied to the joint robot due to a series of advantages of small size, light weight, large transmission ratio range, long service life, high precision, high transmission efficiency, stable transmission and the like, is one of important mechanical parts of the joint robot, but the existing RV reducer still has some defects.

The prior RV reducer adopts a two-stage speed reducing mechanism, which consists of a planetary gear mechanism and a differential gear speed reducing mechanism of a cycloid pinwheel, the power transmission of the whole speed reducer is input by a sun gear connected with a servo motor, the sun gear is meshed with the planetary gear of the RV reducer and then transmits the power to the differential gear speed reducing mechanism of the cycloid pinwheel, different output power modes can be obtained by fixing a shell or an output flange of the speed reducer, lubricating grease needs to be injected into the speed reducer through an oil injection port on a mechanical arm after the RV reducer is installed on a robot arm, the grease can not be injected once due to the structure reason, the grease can be fully and uniformly filled into the speed reducer only by operating the speed reducer in the injecting process so as to reach the required filling amount, the operation process is complex, time and labor are wasted, the power line of the servo motor for inputting the power to the RV reducer can only be fixed at the outer side of the mechanical arm, the power line is easily worn and is greatly affected by the environment in a harsh environment.

We propose an integral high precision RV reducer for the robot's end arm in order to solve the problems set forth above.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an integrated high-precision RV reducer suitable for a tail end arm of a robot, and aims to solve the problems that grease of the RV reducer suitable for the tail end arm of the robot in the current market in the background technology cannot be filled in one step, the reducer is required to be operated in the filling process to fully and uniformly fill the grease into the reducer so as to achieve the required filling amount, the operation process is complex, time and labor are wasted, a power line of a servo motor for inputting power to the RV reducer can only be fixed on the outer side of a mechanical arm, the power line is easy to wear and is greatly influenced by the environment in a harsh environment.

In order to achieve the purpose, the utility model provides the following technical scheme: an integrated high-precision RV reducer suitable for a robot tail end arm comprises a cover cap, a gear shaft and an RV reducer, wherein the cover cap is installed on the planetary gear side of the RV reducer, an O-shaped ring is installed on the cover cap at the position of the contact end face of the cover cap and the shell of the RV reducer, and the gear shaft penetrates through the middle of the RV reducer;

further comprising:

the first framework oil seal is arranged between the cover cap and the gear shaft and used for plugging grease;

and the shaft snap ring is arranged on the inner side of the RV reducer and used for improving the stability of power input.

Preferably, two oil drain plug screws are symmetrically arranged on the side face of the cover cap, and the oil drain plug screws are in threaded connection with the cover cap.

Through adopting above-mentioned technical scheme for through rotating oil drain plug screw, can carry out oiling and oil drain operation to the shroud inboard, be convenient for follow-up convenient change to lubricating grease.

Preferably, a second framework oil seal is hermetically mounted between the gear shaft and the RV reducer and symmetrically arranged with the first framework oil seal, and the outer wall and the inner wall of the second framework oil seal are respectively tightly attached to the inner wall of the output end of the RV reducer and the outer wall of the gear shaft.

Through adopting above-mentioned technical scheme, can effectively improve the sealing performance of the inboard grease of RV reduction gear, effectively avoid the grease to take place to leak along with the rotation of gear shaft, lead to the equipment outside to be contaminated, also prolonged the lubricated life of lubricating grease simultaneously.

Preferably, the shaft snap ring is of a circular ring structure, the inner side of the shaft snap ring is provided with the deep groove ball bearing, and the deep groove ball bearing is installed between the gear shaft and the RV reducer.

Through adopting above-mentioned technical scheme for snap ring and deep groove ball bearing can carry out the stable support to the gear shaft for the axle, thereby guarantee power input's stationarity.

Preferably, the gear shaft is arranged in a hollow structure, and the end face of the gear shaft is provided with a screw hole.

Through adopting above-mentioned technical scheme, can utilize the screw hole to be connected connecting device such as gear shaft and belt pulley or elastic coupling to input power can pass the power cable from the gear shaft is inside simultaneously, practices thrift the space, plays the cable guard action simultaneously.

Preferably, the both ends inboard of gear shaft is provided with the support, just be connected with the connection bearing between gear shaft and the support, and the inside equal angle telescopic connection of support has the spliced pole, simultaneously be connected with reset spring between spliced pole and the support, the end of spliced pole is connected with the clamping piece of arc structure, just the ball is installed in the outer wall embedding of clamping piece.

Through adopting above-mentioned technical scheme for the spliced pole can drive the clamping piece under reset spring's elasticity effect and carry out centre gripping, location to the cable, thereby avoids the cable to take place to bend in the inboard of gear shaft, prevents that the cable after bending from laminating in the inner wall of gear shaft and taking place wearing and tearing, has further improved the protection effect of cable.

Compared with the prior art, the utility model has the beneficial effects that: the integrated high-precision RV reducer suitable for the tail end arm of the robot adopts an integrated design, grease can be injected into the reducer in advance, the robot is not required to be injected with the grease, a power line of a servo motor can be hidden in the reducer, dragging abrasion of the power line caused by the change of the posture of the robot is reduced, and the adaptability and the attractiveness of the robot to the environment are improved;

1. the integrated design of the RV reducer is completed without injecting grease on a robot, so that grease filling work is simplified, the grease can be efficiently sealed through the first framework oil seal and the second framework oil seal, and therefore, equipment pollution caused by grease leakage is avoided, and the practicability is high;

2. be provided with gear shaft and clamping piece, through passing the cable gear shaft, can hide the cable, reduce the power line that causes because of the change of robot gesture and drag wearing and tearing, increase the adaptability and the aesthetic property of robot to the environment, the clamping piece can further be spacing to the cable simultaneously, avoids the cable to pull the inner wall that the in-process takes place the bending and laminate the gear shaft, prevents to continue to cause wearing and tearing.

Drawings

FIG. 1 is a schematic view of a gear shaft mounting structure of the present invention;

FIG. 2 is a schematic diagram of the right-view structure of the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

fig. 4 is a schematic perspective view of the clip of the present invention.

In the figure: 1. a cover; 2. a first framework oil seal; 3. a gear shaft; 301. connecting a bearing; 302. a support; 303. connecting columns; 304. a return spring; 305. a clip; 306. a ball bearing; 4. an oil drain plug screw; 5. an RV reducer; 6. a second framework oil seal; 7. a snap ring for the shaft; 8. provided is a deep groove ball bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: an integrated high-precision RV reducer suitable for a robot tail end arm comprises a cover cap 1, a gear shaft 3 and an RV reducer 5, wherein the cover cap 1 is installed on the planetary gear side of the RV reducer 5, an O-shaped ring is installed on the cover cap 1 and on the end face, in contact with a shell of the RV reducer 5, of the cover cap 1, and the gear shaft 3 penetrates through the middle of the RV reducer 5;

further comprising:

the first framework oil seal 2 is arranged between the cover cap 1 and the gear shaft 3 and is used for plugging grease;

and the shaft snap ring 7 is arranged on the inner side of the RV reducer 5 and is used for improving the stability of power input.

Two oil drain screw plugs 4 are symmetrically arranged on the side surface of the cover cap 1, and the oil drain screw plugs 4 are in threaded connection with the cover cap 1.

A second framework oil seal 6 is hermetically arranged between the gear shaft 3 and the RV reducer 5, the second framework oil seal 6 and the first framework oil seal 2 are symmetrically arranged, and the outer wall and the inner wall of the second framework oil seal 6 are respectively tightly attached to the inner wall of the output end of the RV reducer 5 and the outer wall of the gear shaft 3.

The shaft snap ring 7 is of a circular ring structure, the inner side of the shaft snap ring 7 is provided with a deep groove ball bearing 8, and the deep groove ball bearing 8 is installed between the gear shaft 3 and the RV reducer 5.

The gear shaft 3 is a hollow structure, and a screw hole is formed in the end face of the gear shaft 3.

As shown in fig. 1-2, the oil drain plug screw 4 is unscrewed in a rotating mode, so that oil is injected into the inner side of the RV reducer 5 through the hole, until the oil is filled to a proper working amount, the first framework oil seal 2 and the second framework oil seal 6 can effectively seal the oil, the oil is prevented from leaking in the using process and causing equipment pollution, then the screw holes formed in the end face of the gear shaft 3 are used for connecting devices such as belt pulleys or elastic couplings to input power, the shaft can be stably supported on the gear shaft 3 through the snap ring 7 and the deep groove ball bearing 8, and the stability of power input is effectively improved.

The both ends inboard of gear shaft 3 is provided with support 302, and is connected with connection bearing 301 between gear shaft 3 and the support 302 to the inside equal angle telescopic connection of support 302 has spliced pole 303, is connected with reset spring 304 between spliced pole 303 and the support 302 simultaneously, and the end of spliced pole 303 is connected with the clamping piece 305 of arc structure, and the ball 306 is installed in the outer wall embedding of clamping piece 305.

As shown in fig. 1 and 3-4, in the installation, pass outside servo motor's power cable from gear shaft 3 inside, thereby realize taking in the hidden of cable, also play the cable guard action when practicing thrift the space, spliced pole 303 can drive clamping piece 305 to carry out the centre gripping to the cable under reset spring 304's elasticity effect simultaneously, it is spacing, thereby avoid the cable to take place to buckle and laminate the inner wall of gear shaft 3 at the twitch in-process, prevent 3 rotatory in-process wearing and tearing cables of gear shaft, thereby effectively avoid the cable to be in a jumble and take place wearing and tearing, the life of equipment has been prolonged.

The working principle is as follows: when the integrated high-precision RV reducer suitable for the tail end arm of the robot is used, firstly, as shown in figures 1-4, an oil drain plug screw 4 is opened, grease is added into the RV reducer 5 until the grease is filled to a proper filling amount, then a power cable of an external servo motor penetrates through the gear shaft 3, the cable is stored and protected, the gear shaft 3 is connected with connecting devices such as belt pulleys or elastic couplings to input power, in the working process, the gear shaft 3 can be stably supported by the shaft clamp ring 7 and the deep groove ball bearing 8, and the stability of power input is further ensured, so that a series of work is completed.

Those not described in detail in this specification are within the skill of the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the utility model can be made, and equivalents and modifications of some features of the utility model can be made without departing from the spirit and scope of the utility model.

Claims

1. An integrated high-precision RV reducer suitable for a robot tail end arm comprises a cover (1), a gear shaft (3) and an RV reducer (5), wherein the cover (1) is installed on the planetary gear side of the RV reducer (5), an O-shaped ring is installed on the cover (1) and on the end face, in contact with a shell of the RV reducer (5), and the gear shaft (3) penetrates through the middle of the RV reducer (5);

it is characterized by also comprising:

the first framework oil seal (2) is arranged between the cover cap (1) and the gear shaft (3) and is used for plugging grease;

and the shaft snap ring (7) is arranged on the inner side of the RV reducer (5) and is used for improving the stability of power input.

2. The integrated high-precision RV reducer applicable to the tail arm of the robot as claimed in claim 1, characterized in that: the side of the cover cap (1) is symmetrically provided with two oil drain plug screws (4), and the oil drain plug screws (4) are in threaded connection with the cover cap (1).

3. The integrated high-precision RV reducer applicable to the tail arm of the robot as claimed in claim 1, characterized in that: a second framework oil seal (6) is arranged between the gear shaft (3) and the RV reducer (5) in a sealing mode, the second framework oil seal (6) is symmetrically arranged with the first framework oil seal (2), and the outer wall and the inner wall of the second framework oil seal (6) are tightly attached to the inner wall of the output end of the RV reducer (5) and the outer wall of the gear shaft (3) respectively.

4. The integrated high-precision RV reducer applicable to the tail arm of the robot as claimed in claim 1, characterized in that: the shaft snap ring (7) is of a circular ring structure, the inner side of the shaft snap ring (7) is provided with a deep groove ball bearing (8), and the deep groove ball bearing (8) is installed between the gear shaft (3) and the RV reducer (5).

5. The integrated high-precision RV reducer applicable to the tail arm of the robot as claimed in claim 1, characterized in that: the gear shaft (3) is arranged in a hollow structure, and a screw hole is formed in the end face of the gear shaft (3).

6. The integrated high-precision RV reducer applicable to the tail arm of the robot as claimed in claim 1, characterized in that: the utility model discloses a gear shaft, including gear shaft (3), support (302), connecting bearing (301) are connected with between gear shaft (3) and support (302), and the inside of support (302) is equiangular telescopic connection has spliced pole (303), simultaneously be connected with reset spring (304) between spliced pole (303) and support (302), the end of spliced pole (303) is connected with clamping piece (305) of arc structure, just ball (306) are installed in the outer wall embedding of clamping piece (305).