CN216991981U - Joint robot - Google Patents
Joint robot Download PDFInfo
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- CN216991981U CN216991981U CN202220537281.4U CN202220537281U CN216991981U CN 216991981 U CN216991981 U CN 216991981U CN 202220537281 U CN202220537281 U CN 202220537281U CN 216991981 U CN216991981 U CN 216991981U
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- wave generator
- support bearing
- flexible
- output
- cable sleeve
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Abstract
The utility model relates to a joint robot, which comprises an arm body, a wave generator, a speed reducer rigid-flexible wheel assembly, an output bracket and a joint cable, wherein the wave generator is arranged in the arm body; the rigid and flexible wheel component of the speed reducer comprises a rigid wheel and a flexible wheel, and the flexible wheel is sleeved outside the wave generator; the rigid wheel is sleeved outside the flexible wheel and meshed with the flexible wheel; the output support is coaxially fixed on the flexible gear and extends out of the arm body, the wave generator can be driven to rotate at a high speed, so that the flexible gear generates flexible deformation, and the output support is driven to rotate at a low speed through meshing transmission of the flexible gear and the rigid gear; the joint cable penetrates through the output bracket and the wave generator in sequence, and is not in transmission connection with any other structure of the joint robot. This joint robot can avoid the joint cable to lead to the joint cable to break off because of following output support or wave generator rotation angle are too big to reach the purpose of protection joint cable, thereby improve joint cable's life.
Description
Technical Field
The utility model relates to the technical field of electronic product manufacturing, in particular to a joint robot.
Background
The motion range of traditional joint robot's output support is generally more than 180, when the output support is rotatory, the joint cable that passes the output support can twist reverse along with the output support together, when joint cable torsion angle exceeded 180 and when periodically twisting, the life-span of joint cable can sharply descend, easy fracture takes place, and then will lead to joint robot's operational failure, and the change and the maintenance of joint cable need be disassembled joint robot, this is the work that needs technology and time very much, seriously influences joint robot work efficiency.
SUMMERY OF THE UTILITY MODEL
Accordingly, the present invention provides an articulated robot capable of preventing torsional fracture of an articulated cable.
An articulated robot comprising:
an arm body;
the wave generator is arranged in the arm body;
the speed reducer rigid-flexible wheel assembly comprises a rigid wheel and a flexible wheel, and the flexible wheel is sleeved outside the wave generator; the rigid wheel is sleeved outside the flexible wheel and meshed with the flexible wheel;
the output bracket is coaxially fixed on the flexible gear and extends out of the arm body, the wave generator can be driven to rotate at a high speed so as to enable the flexible gear to generate flexible deformation, and the output bracket is driven to rotate at a low speed through meshing transmission of the flexible gear and the rigid gear; and
and the joint cable is sequentially arranged on the output bracket and the wave generator in a penetrating manner, and is not in transmission connection with any other structure of the joint robot.
In one embodiment, one end of the wave generator extends out of the arm body, the output support is sleeved at one end of the wave generator exposed out of the arm body, the joint robot further comprises a cable sleeve, the cable sleeve sequentially penetrates through the output support and the wave generator, the cable sleeve is not in transmission connection with any other structure of the joint robot, and the joint cable penetrates through the cable sleeve and is not in transmission connection with any other structure of the joint robot.
In one embodiment, the joint robot further comprises a first support bearing, the first support bearing is located between the output bracket and the wave generator, an outer ring of the first support bearing is arranged on the output bracket, and an inner ring of the first support bearing is arranged on the wave generator.
In one embodiment, the joint robot further includes a second support bearing, the second support bearing is accommodated in the arm body, an outer ring of the second support bearing is disposed on an inner wall of the arm body, and an inner ring of the second support bearing is disposed on the wave generator.
In one embodiment, the joint robot further comprises a belt wheel, the belt wheel is arranged in the arm body and coaxially fixed at one end, away from the output support, of the wave generator, the cable sleeve sequentially penetrates through the output support, the wave generator and the belt wheel, and the belt wheel is used for driving the wave generator to rotate at a high speed.
In one embodiment, the joint robot further comprises a third support bearing, the third support bearing is located between the output bracket and the cable sleeve, an outer ring of the third support bearing is arranged on the output bracket, and an inner ring of the third support bearing is arranged on the cable sleeve.
In one embodiment, the joint robot further includes a fourth support bearing, the fourth support bearing is located between the pulley and the cable sleeve, an outer ring of the fourth support bearing is disposed on the pulley, and an inner ring of the fourth support bearing is disposed on the cable sleeve.
In one embodiment, a clamping groove is formed in the outer side wall of the cable sleeve, the joint robot further comprises a clamping ring clamped in the clamping groove and abutted against the inner ring of the fourth support bearing so as to limit the axial movement of the cable sleeve along the cable sleeve.
In one embodiment, the joint robot further comprises a shielding ring, one end of the shielding ring extends into the arm body and is sleeved and fixed outside the rigid wheel, and the other end of the shielding ring extends out of the arm body and is sleeved and fixed outside the output support.
In one embodiment, the articulated robot further comprises a seal sealingly disposed between the shield ring and the arm.
When the joint robot provided by the application works, the wave generator can be driven to rotate at a high speed, the wave generator enables the flexible gear to generate flexible deformation, the flexible gear and the rigid gear are in meshing transmission, the flexible gear and the rigid gear output power through the output bracket to rotate at a low speed, in the scheme, the joint cable is sequentially arranged on the output bracket and the wave generator in a penetrating way, and is not in transmission connection with any other structure of the joint robot, thus when the wave generator rotates at high speed and the output bracket is driven to rotate at low speed by the rigid-flexible wheel component of the speed reducer, the joint cable passing through the output bracket and the wave generator does not rotate together with the output bracket or the wave generator, thereby avoid the joint cable to lead to the joint cable to break because of following output support or wave generator rotation angle too big to reach the purpose of protection joint cable, thereby improve joint cable's life.
Drawings
FIG. 1 is a cross-sectional view of an articulated robot in one embodiment;
fig. 2 is an enlarged schematic view of a point a in fig. 1.
Detailed Description
To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.
As shown in fig. 1 and 2, the present application provides an articulated robot 100, where the articulated robot 100 includes an arm body 110, a wave generator 120, a reducer rigid-flexible wheel assembly 130, an output bracket 140, and an articulation cable 150, where the wave generator 120 is disposed in the arm body 110; the speed reducer rigid-flexible wheel assembly 130 comprises a rigid wheel 134 and a flexible wheel 132, and the flexible wheel 132 is sleeved outside the wave generator 120; the rigid wheel 134 is sleeved outside the flexible wheel 132 and meshed with the flexible wheel 132; the output bracket 140 is coaxially fixed on the flexible gear 132 and extends out of the arm body 110, the wave generator 120 can be driven to rotate at a high speed, so that the flexible gear 132 generates flexible deformation, and the output bracket 140 is driven to rotate at a low speed through the meshing transmission of the flexible gear 132 and the rigid gear 134; the joint cable 150 is sequentially arranged through the output bracket 140 and the wave generator 120, and the joint cable 150 is not in transmission connection with any other structure of the joint robot 100.
In the joint robot 100 provided by the present application, when the joint robot 100 works, the wave generator 120 can be driven to rotate at a high speed, the wave generator 120 enables the flexible gear 132 to generate flexible deformation, the flexible gear 132 is in meshing transmission with the rigid gear 134, and the output power is output through the output bracket 140 to rotate at a low speed, and in the present scheme, the joint cable 150 sequentially penetrates through the output bracket 140 and the wave generator 120, and the joint cable 150 is not in transmission connection with any other structure of the joint robot 100, so that when the wave generator 120 rotates at a high speed and drives the output bracket 140 to rotate at a low speed through the speed reducer rigid-flexible gear assembly 130, the joint cable 150 penetrating through the output bracket 140 and the wave generator 120 cannot rotate along with the output bracket 140 or the wave generator 120, thereby preventing the joint cable 150 from being broken due to an overlarge rotation angle of the joint cable 150 along with the output bracket 140 or the wave generator 120, and achieving the purpose of protecting the joint cable 150, thereby improving the service life of the joint cable 150.
As shown in fig. 2, one end of the wave generator 120 extends out of the arm 110, the output bracket 140 is sleeved at one end of the wave generator 120 exposed out of the arm 110, the joint robot 100 further includes a cable sleeve 160, the cable sleeve 160 sequentially penetrates through the output bracket 140 and the wave generator 120, the cable sleeve 160 is not in transmission connection with any other structure of the joint robot 100, and the joint cable 150 penetrates through the cable sleeve 160 and is not in transmission connection with any other structure of the joint robot 100.
The articulated robot 100 further includes a first support bearing 170, the first support bearing 170 is located between the output bracket 140 and the wave generator 120, and an outer ring of the first support bearing 170 is disposed on the output bracket 140 and an inner ring of the first support bearing 170 is disposed on the wave generator 120. Specifically, when the wave generator 120 rotates at a high speed and the output bracket 140 rotates at a low speed, the outer race of the first support bearing 170 rotates at a low speed with the output bracket 140, and the inner race of the first support bearing 170 rotates at a high speed with the wave generator 120.
The articulated robot 100 further includes a second support bearing 180, the second support bearing 180 is accommodated in the arm body 110, an outer ring of the second support bearing 180 is disposed on an inner wall of the arm body 110, and an inner ring of the second support bearing 180 is disposed on the wave generator 120. Specifically, when the wave generator 120 performs high-speed rotation and the output carrier 140 performs low-speed rotation, the outer race of the second support bearing 180 is connected to the arm body 110 and does not rotate, and the inner race of the second support bearing 180 performs high-speed rotation following the wave generator 120.
As shown in fig. 2, the joint robot 100 further includes a pulley 190, the pulley 190 is disposed in the arm 110, the pulley 190 is coaxially fixed at one end of the wave generator 120 far away from the output bracket 140, the cable sleeve 160 sequentially penetrates through the output bracket 140, the wave generator 120 and the pulley 190, and the pulley 190 is used for driving the wave generator 120 to rotate at a high speed.
The articulated robot 100 further includes a third support bearing 191, the third support bearing 191 is located between the output bracket 140 and the cable sleeve 160, and an outer race of the third support bearing 191 is disposed on the output bracket 140 and an inner race of the third support bearing 191 is disposed on the cable sleeve 160. Specifically, when the wave generator 120 performs high-speed rotation and the output carrier 140 performs low-speed rotation, the outer race of the third support bearing 191 follows the output carrier 140 to perform low-speed rotation, and the inner race of the third support bearing 191 is connected to the cable sleeve 160 without rotation.
The articulated robot 100 further includes a fourth support bearing 192, the fourth support bearing 192 being positioned between the pulley 190 and the cable sleeve 160, with an outer race of the fourth support bearing 192 being disposed on the pulley 190 and an inner race of the fourth support bearing 192 being disposed on the cable sleeve 160. Specifically, when the pulley 190 drives the wave generator 120 to rotate at a high speed and the output bracket 140 rotates at a low speed, the outer race of the fourth support bearing 192 follows the pulley 190 to rotate at a high speed, and the inner race of the fourth support bearing 192 is connected to the cable sleeve 160 without rotating.
As shown in fig. 2, further, a clamping groove 162 is disposed on an outer side wall of the cable sleeve 160, and the joint robot 100 further includes a clamping ring 193, wherein the clamping ring 193 is clamped in the clamping groove 162 and abuts against an inner ring of the fourth support bearing 192 to limit the cable sleeve 160 from moving in the axial direction of the cable sleeve 160.
The articulated robot 100 further includes a shielding ring 194, one end of the shielding ring 194 extends into the arm 110 and is sleeved and fixed outside the rigid wheel 134, and the other end of the shielding ring 194 extends out of the arm 110 and is sleeved and fixed outside the output support 140. Through the arrangement of the shielding ring 194, the core part output support 140 and the speed reducer rigid-flexible wheel assembly 130 of the joint robot 100 are ensured to be relatively isolated from the external working environment, the protection level of the joint robot 100 is improved, the service life of the joint robot 100 in severe application scenes (such as cutting, grinding and polishing) is guaranteed, and the application scene range of the joint robot 100 is expanded. Further, the articulated robot 100 further includes a sealing member 195, and the sealing member 195 is disposed between the shielding ring 194 and the arm body 110 to improve the sealing effect between the shielding ring 194 and the arm body 110.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. An articulated robot, comprising:
an arm body;
the wave generator is arranged in the arm body;
the speed reducer rigid-flexible wheel assembly comprises a rigid wheel and a flexible wheel, and the flexible wheel is sleeved outside the wave generator; the rigid wheel is sleeved outside the flexible wheel and meshed with the flexible wheel;
the output support is coaxially fixed on the flexible gear and extends out of the arm body, the wave generator can be driven to rotate at a high speed so as to enable the flexible gear to generate flexible deformation, and the output support is driven to rotate at a low speed through meshing transmission of the flexible gear and the rigid gear; and
and the joint cable is sequentially arranged on the output bracket and the wave generator in a penetrating manner, and is not in transmission connection with any other structure of the joint robot.
2. The articulated robot of claim 1, wherein one end of the wave generator extends out of the arm, the output bracket is sleeved at one end of the wave generator exposed out of the arm, the articulated robot further comprises a cable sleeve, the cable sleeve sequentially penetrates through the output bracket and the wave generator, the cable sleeve is not in transmission connection with any other structure of the articulated robot, and the articulated cable penetrates through the cable sleeve and is not in transmission connection with any other structure of the articulated robot.
3. The articulated robot of claim 2, further comprising a first support bearing positioned between the output carrier and the wave generator, and an outer race of the first support bearing is disposed on the output carrier and an inner race of the first support bearing is disposed on the wave generator.
4. The articulated robot of claim 2, further comprising a second support bearing housed within the arm body, wherein an outer race of the second support bearing is disposed on an inner wall of the arm body, and an inner race of the second support bearing is disposed on the wave generator.
5. The joint robot of claim 2, further comprising a pulley, wherein the pulley is disposed in the arm body and coaxially fixed to an end of the wave generator away from the output bracket, the cable sleeve sequentially penetrates through the output bracket, the wave generator and the pulley, and the pulley is used for driving the wave generator to rotate at a high speed.
6. The articulated robot of claim 5, further comprising a third support bearing positioned between the output bracket and the cable sleeve with an outer race of the third support bearing disposed on the output bracket and an inner race of the third support bearing disposed on the cable sleeve.
7. The articulated robot of claim 5, further comprising a fourth support bearing positioned between the pulley and the cable sleeve with an outer race of the fourth support bearing disposed on the pulley and an inner race of the fourth support bearing disposed on the cable sleeve.
8. The articulated robot of claim 7, wherein a clamping groove is formed in an outer side wall of the cable sleeve, and the articulated robot further comprises a clamping ring clamped in the clamping groove and abutted against an inner ring of the fourth support bearing so as to limit axial movement of the cable sleeve along the cable sleeve.
9. The articulated robot of claim 1, further comprising a shielding ring, wherein one end of the shielding ring extends into the arm body and is sleeved and fixed outside the rigid wheel, and the other end of the shielding ring extends out of the arm body and is sleeved and fixed outside the output bracket.
10. The articulated robot of claim 9, further comprising a seal sealingly disposed between the shield ring and the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220537281.4U CN216991981U (en) | 2022-03-11 | 2022-03-11 | Joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220537281.4U CN216991981U (en) | 2022-03-11 | 2022-03-11 | Joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216991981U true CN216991981U (en) | 2022-07-19 |
Family
ID=82368401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220537281.4U Active CN216991981U (en) | 2022-03-11 | 2022-03-11 | Joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216991981U (en) |
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2022
- 2022-03-11 CN CN202220537281.4U patent/CN216991981U/en active Active
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