CN106352053B - Manipulator joint deceleration mechanism - Google Patents
Manipulator joint deceleration mechanism Download PDFInfo
- Publication number
- CN106352053B CN106352053B CN201610828977.1A CN201610828977A CN106352053B CN 106352053 B CN106352053 B CN 106352053B CN 201610828977 A CN201610828977 A CN 201610828977A CN 106352053 B CN106352053 B CN 106352053B
- Authority
- CN
- China
- Prior art keywords
- supporting element
- positioning region
- deceleration mechanism
- bearing
- ring
- 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.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0018—Shaft assemblies for gearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Sealing Using Fluids, Sealing Without Contact, And Removal Of Oil (AREA)
- Mounting Of Bearings Or Others (AREA)
- Sealing Of Bearings (AREA)
Abstract
The problem of the application discloses a kind of manipulator joint deceleration mechanism, belongs to manipulator technical field, and which solve current manipulator deceleration mechanism oil leaks.Manipulator joint deceleration mechanism, including outer ring and the inner shaft being arranged in outer ring, there is bearing between the outer ring and inner shaft, it is characterized in that, the outer ring has positioning region annular in shape, the bearing is located at the inside of positioning region, the outside of the positioning region is equipped with supporting element annular in shape or discoid, sealing ring is equipped between the inner ring of the supporting element and bearing, supporting element has the trend of close bearing with magnetic force and under the magnetic force between the positioning region and supporting element.In this manipulator joint deceleration mechanism, since spring can push supporting element to the direction close to positioning region, supporting element is enabled to eliminate ring wear, so that the sealing effect of deceleration mechanism is preferable.
Description
Technical field
The invention belongs to manipulator technical fields, are related to a kind of manipulator joint deceleration mechanism.
Background technique
In common mechanical swivel of hand deceleration mechanism, can not the abrasion that generates in use of compensation sealing circle so that
The oil leak of manipulator deceleration mechanism.
Summary of the invention
In view of the above-mentioned problems, the invention proposes a kind of sealing effect preferable manipulator deceleration mechanism, purpose can lead to
Following technical proposals are crossed to realize:
Manipulator joint deceleration mechanism, including outer ring and the inner shaft being arranged in outer ring, between the outer ring and inner shaft
With bearing, which is characterized in that the outer ring has positioning region annular in shape, and the bearing is located at the inside of positioning region
Place, the outside of the positioning region are equipped with supporting element annular in shape or discoid, the inner ring of the supporting element and bearing it
Between be equipped with sealing ring, between the positioning region and supporting element with magnetic force and under the magnetic force supporting element have lean on it is paraxial
The trend held.
In the joint operational process of manipulator, inner shaft and outer ring are relatively rotated, and bearing plays support and company between
Connect effect.Supporting element plays a supportive role to sealing ring, so that the structure of sealing ring is relatively stable.In deceleration mechanism operational process
In, the lubricating oil within the organization that slows down has the trend to outward leakage, and sealing ring is played in the contact position of sealing ring and bearing inner race
Sealing function.When the meaning between positioning region and supporting element with magnetic force, positioning region and supporting element one of them with magnet,
Also there is magnet or permeability magnetic material corresponding with magnet, the two can attract each other for another.
In this deceleration mechanism, since supporting element has the trend close to positioning region, so that in deceleration mechanism operational process
In, even if sealing ring generates abrasion, supporting element can make again sealing ring play sealing on bearing inner race behind positioning region
Effect, so that the sealing effect of deceleration mechanism is preferable.
In above-mentioned manipulator joint deceleration mechanism, there is screw on the positioning region, the screw is resisted against
On the outer ring of bearing.
In deceleration mechanism, since screw is resisted against on bearing outer ring, screw plays bearing and eliminates build-up tolerance
Effect, so that the structure of deceleration mechanism is more stable.
In above-mentioned manipulator joint deceleration mechanism, there is resigning chamber, the bolt portion on the supporting element
It is greater than the outer diameter of screw positioned at intracavitary and resigning chamber size of stepping down.
Screw step down it is intracavitary at least play position-limiting action so that supporting element opposed fixed member is circumferentially positioned.Screw can also
Certain guiding role is played, so that the movement of supporting element is more stable.Therefore, in this deceleration mechanism, on the one hand screw rises
The problem of having arrived elimination deceleration mechanism build-up tolerance, on the other hand, screw also plays position-limiting action to supporting element.
In above-mentioned manipulator joint deceleration mechanism, the material of the sealing ring is polytetrafluoroethylene (PTFE).
The material selection polytetrafluoroethylene (PTFE) of sealing ring, so that the self-lubricating property of sealing ring is preferable, but also sealing ring pair
The sealing effect that bearing inner race plays is preferable.
In above-mentioned manipulator joint deceleration mechanism, there is boss on the supporting element, the boss is located at close
Between seal and positioning region, the boss mutually reclines with positioning region.
Abutment face between positioning region and boss plays guiding role to the movement of supporting element, so that supporting element is moved through
Journey is relatively stable smooth.Abutment face between positioning region and boss also forms certain sealing, moreover, on boss with positioning region phase
The flatness requirement of the abutment face to recline is higher, and boss is easier accurate processing compared with sealing ring.
In above-mentioned manipulator joint deceleration mechanism, the sealing ring is fixed on the boss of supporting element by glue
Place.
Sealing ring is fixed at boss by glue, so that the structure of sealing ring is relatively stable.
In above-mentioned manipulator joint deceleration mechanism, the material of the positioning region is magnetic material, the support
There are multiple magnet being circularly and evenly distributed, the position of the magnet is corresponding with positioning region on part.
Multiple magnet are uniformly distributed, so that the movement of supporting element is more stable smooth.
In above-mentioned manipulator joint deceleration mechanism, the material of the supporting element is aluminium alloy.
The material of supporting element is aluminium alloy, on the one hand ensure that supporting role of the supporting element to sealing ring, on the other hand, is made
The lighter in weight for obtaining supporting element, so that the movement of supporting element is more smoothly.
In this manipulator joint deceleration mechanism, due to having the magnetic for making the two attract each other between supporting element and positioning region
Power, supporting element can eliminate ring wear, so that the sealing effect of deceleration mechanism is preferable.
Purpose according to the present invention, the invention also provides a kind of sealing effect preferable manipulator deceleration mechanism, skills
Art scheme is as follows:
Manipulator joint deceleration mechanism, including outer ring and the inner shaft being arranged in outer ring, between the outer ring and inner shaft
With bearing, which is characterized in that the outer ring has positioning region annular in shape, and the bearing is located at the inside of positioning region
Place, the outside of the positioning region are equipped with supporting element annular in shape or discoid, the inner ring of the supporting element and bearing it
Between be equipped with sealing ring, deceleration mechanism further includes bolt, and the bolt is passed through and supporting element and is fixed on positioning region, the bolt
On be arranged with spring, spring is located on supporting element at the side in remotely located portion and under the action of the spring, and supporting element, which has, to be leaned on
The paraxial trend held.
In this deceleration mechanism, since supporting element has the trend close to positioning region, so that in deceleration mechanism operational process
In, even if sealing ring generates abrasion, supporting element can make again sealing ring play sealing on bearing inner race behind positioning region
Effect, so that the sealing effect of deceleration mechanism is preferable.
In above-mentioned manipulator joint deceleration mechanism, the bolt passes through positioning region and is resisted against the outer ring of bearing
On.
In this structure, bolt has not only acted as support spring, part easy to support eliminates the effect of ring wear, also rises
The effect for eliminating bearing build-up tolerance is arrived.
In above-mentioned manipulator joint deceleration mechanism, the material of the sealing ring is polytetrafluoroethylene (PTFE).
The material selection polytetrafluoroethylene (PTFE) of sealing ring, so that the self-lubricating property of sealing ring is preferable, but also sealing ring pair
The sealing effect that bearing inner race plays is preferable.
In above-mentioned manipulator joint deceleration mechanism, there is boss on the supporting element, the boss is located at close
Between seal and positioning region, the boss mutually reclines with positioning region.
Abutment face between positioning region and boss plays guiding role to the movement of supporting element, so that supporting element is moved through
Journey is relatively stable smooth.Abutment face between positioning region and boss also forms certain sealing, moreover, on boss with positioning region phase
The flatness requirement of the abutment face to recline is higher, and boss is easier accurate processing compared with sealing ring.
In above-mentioned manipulator joint deceleration mechanism, the sealing ring is fixed on the boss of supporting element by glue
Place.
Sealing ring is fixed at boss by glue, so that the structure of sealing ring is relatively stable.
In this manipulator joint deceleration mechanism, since spring can push supporting element to the direction close to positioning region,
Supporting element is enabled to eliminate ring wear, so that the sealing effect of deceleration mechanism is preferable.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of embodiment of deceleration mechanism；
Fig. 2 is the partial enlarged view of Fig. 1；
Fig. 3 is the structural schematic diagram of deceleration mechanism another embodiment；
Fig. 4 is the partial enlarged view of Fig. 3；
Fig. 5 is the structural schematic diagram of deceleration mechanism another embodiment；
In figure, 1, outer ring；11, positioning region；2, inner shaft；3, bearing；4, supporting element；41, resigning chamber；42, boss；5, it seals
Circle；6, screw；7, magnet；8, bolt；9, spring；10, O-ring.
Specific embodiment
Embodiment one
As shown in Figure 1, manipulator joint deceleration mechanism, including outer ring 1 and the inner shaft 2 being arranged in outer ring 1,1 He of outer ring
There is bearing 3 between inner shaft 2.
Outer ring 1 has positioning region 11 annular in shape, and in the present embodiment, the two sides of outer ring 1 all have positioning region 11.Axis
It is a for holding 3 quantity, and is located at the inside of positioning region 11 of 1 two sides of outer ring, and it is in annulus that the outside of positioning region 11, which is equipped with,
Shape or discoid supporting element 4, in the same old way, the quantity of supporting element 4 is also two, is correspondingly arranged with bearing 3.
The material of supporting element 4 is aluminium alloy, on the one hand ensure that supporting role of the supporting element 4 to sealing ring 5, another party
Face, so that the lighter in weight of supporting element 4, so that the movement of supporting element 4 is more smoothly.
Between supporting element 4 and the inner ring of bearing 3 be equipped with sealing ring 5, the material selection polytetrafluoroethylene (PTFE) of sealing ring 5 so that
The self-lubricating property of sealing ring 5 is preferable, but also the sealing effect that sealing ring 5 plays 3 inner ring of bearing is preferable.As alternative
Case, the material of sealing ring 5 are rubber.
Supporting element 4 has becoming close to bearing 3 with magnetic force and under the magnetic force between positioning region 11 and supporting element 4
Gesture.Specifically, the material of positioning region 11 is magnetic material, in the present embodiment, the material of positioning region 11 is steel.Alternatively, positioning
In portion 11 with the material of 7 position corresponding position of magnet be steel.There is multiple magnet 7 being circularly and evenly distributed, magnet on supporting element 4
7 position is corresponding with positioning region 11, and magnet 7 is fixed on the support 4 by glue.Multiple magnet 7 are uniformly distributed, so that support
The movement of part 4 is more stable smooth.Alternatively, multiple be circularly and evenly distributed is fixed on positioning region 11
Magnet 7, the material of supporting element 4 are steel.Alternatively, on supporting element 4 with the material of 7 corresponding position of magnet be steel or magnet 7.
There is screw 6, screw 6 is resisted against on the outer ring 1 of bearing 3 on positioning region 11.The quantity of screw 6 is multiple and in circle
Week is uniformly distributed.In deceleration mechanism, since screw 6 is resisted against on 3 outer ring 1 of bearing, screw 6 plays elimination dress to bearing 3
Effect with tolerance, so that the structure of deceleration mechanism is more stable.
As shown in Fig. 2, having resigning chamber 41 on supporting element 4,6 part of screw is located in resigning chamber 41 and the ruler of resigning chamber 41
The very little outer diameter greater than screw 6.Screw 6 at least plays position-limiting action in resigning chamber 41, so that 4 opposed fixed member of supporting element is circumferential
Positioning.Screw 6 can also play certain guiding role, so that the movement of supporting element 4 is more stable.Therefore, in this deceleration mechanism
In, 6 one side of screw plays the problem of eliminating deceleration mechanism build-up tolerance, and on the other hand, screw 6 also plays supporting element 4
Position-limiting action.
There is boss 42 annular in shape, boss 42 is between sealing ring 5 and positioning region 11, boss 42 on supporting element 4
It reclines with 11 phase of positioning region.Abutment face between positioning region 11 and boss 42 plays guiding role to the movement of supporting element 4, so that
The moving process of supporting element 4 is relatively stable smooth.Abutment face between positioning region 11 and boss 42 also forms certain sealing, and
And the flatness requirement of the abutment face to recline on boss 42 with 11 phase of positioning region is higher, boss 42 is easier accurate compared with sealing ring 5
Processing.Sealing ring 5 is fixed at boss 42 by glue, so that the structure of sealing ring 5 is relatively stable.
In the joint operational process of manipulator, inner shaft 2 and outer ring 1 are relatively rotated, bearing 3 rise between support and
Connection function.Supporting element 4 plays a supportive role to sealing ring 5, so that the structure of sealing ring 5 is relatively stable.It is run in deceleration mechanism
In the process, the lubricating oil within the organization that slows down has the trend to outward leakage, contact of the sealing ring 5 in sealing ring 5 and 3 inner ring of bearing
Play sealing function in place.When having the meaning of magnetic force between positioning region 11 and supporting element 4, positioning region 11 and supporting element 4 are wherein
One has magnet 7, and also there is magnet 7 or permeability magnetic material corresponding with magnet 7, the two can attract each other for another.
In this deceleration mechanism, since supporting element 4 has the trend close to positioning region 11, so that being run in deceleration mechanism
Cheng Zhong, even if sealing ring 5 generates abrasion, supporting element 4 can make sealing ring 5 on 3 inner ring of bearing again behind positioning region 11
Sealing function is played, so that the sealing effect of deceleration mechanism is preferable.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 3, mechanical
Swivel of hand deceleration mechanism has bearing 3 including outer ring 1 and the inner shaft 2 being arranged in outer ring 1 between outer ring 1 and inner shaft 2, special
Sign is that outer ring 1 has positioning region 11 annular in shape, and bearing 3 is located at the inside of positioning region 11, and the outside of positioning region 11 is set
There is supporting element 4 annular in shape or discoid, sealing ring 5 is equipped between supporting element 4 and the inner ring of bearing 3, deceleration mechanism is also wrapped
Bolt 8 is included, bolt 8 passes through supporting element 4 and is fixed on positioning region 11.The quantity of bolt 8 is multiple and is circularly and evenly distributed.
As shown in figure 4, be arranged with spring 9 on bolt 8, spring 9 be located on supporting element 4 at the side in remotely located portion 11 and
Under the action of spring 9, supporting element 4 has the trend close to bearing 3.In this embodiment, spring 9 is specifically spring washer.
Bar-spring or wave washer also can be selected in spring 9.
In this deceleration mechanism, since supporting element 4 has the trend close to positioning region 11, so that being run in deceleration mechanism
Cheng Zhong, even if sealing ring 5 generates abrasion, supporting element 4 can make sealing ring 5 on 3 inner ring of bearing again behind positioning region 11
Sealing function is played, so that the sealing effect of deceleration mechanism is preferable.
Bolt 8 passes through positioning region 11 and is resisted against on the outer ring 1 of bearing 3.In this structure, bolt 8 has not only acted as branch
It supports spring 9, the effect that the elimination sealing ring 5 of part easy to support 4 is worn, also acts the effect for eliminating 3 build-up tolerance of bearing.
Embodiment three
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 5, boss
O-ring 10 is equipped between 42 and positioning region 11, and the side on boss 42 close to positioning region 11 is equipped with groove, O-ring 10 is embedded in
In this groove.
Example IV
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, supporting element 4 and sealing
Circle 5 is an integral structure, and its material is polytetrafluoroethylene (PTFE).
Claims (8)
1. manipulator joint deceleration mechanism, including outer ring (1) and the inner shaft (2) being arranged in outer ring (1), the outer ring (1)
There are bearing (3) between inner shaft (2), which is characterized in that the outer ring (1) has positioning region (11) annular in shape, institute
The bearing (3) stated is located at the inside of positioning region (11), and the outside of the positioning region (11) is equipped with annular in shape or discoid
Supporting element (4), between the supporting element (4) and the inner ring of bearing (3) be equipped with sealing ring (5), the positioning region (11)
Supporting element (4) has the trend close to bearing (3) with magnetic force and under the magnetic force between supporting element (4).
2. manipulator joint deceleration according to claim 1 mechanism, which is characterized in that have on the positioning region (11)
Screw (6), the screw (6) are resisted against on the outer ring (1) of bearing (3).
3. manipulator joint deceleration according to claim 2 mechanism, which is characterized in that have on the supporting element (4)
Resigning chamber (41), the screw (6) is partially located in resigning chamber (41) and the size of resigning chamber (41) is greater than the outer of screw (6)
Diameter.
4. manipulator joint deceleration according to claim 1 or 2 or 3 mechanism, which is characterized in that the sealing ring (5)
Material be polytetrafluoroethylene (PTFE).
5. manipulator joint deceleration according to claim 1 or 2 or 3 mechanism, which is characterized in that the supporting element (4)
Upper to have boss (42), the boss (42) is located between sealing ring (5) and positioning region (11), the boss (42) and positioning
Portion (11) mutually reclines.
6. manipulator joint deceleration according to claim 5 mechanism, which is characterized in that the sealing ring (5) passes through glue
Hydropexis is at the boss (42) of supporting element (4).
7. manipulator joint deceleration according to claim 1 or 2 or 3 mechanism, which is characterized in that the positioning region (11)
Material be magnetic material, there is on the supporting element (4) multiple magnet (7) being circularly and evenly distributed, the magnet (7)
Position it is corresponding with positioning region (11).
8. manipulator joint deceleration according to claim 1 or 2 or 3 mechanism, which is characterized in that the supporting element (4)
Material be aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828977.1A CN106352053B (en) | 2016-09-19 | 2016-09-19 | Manipulator joint deceleration mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828977.1A CN106352053B (en) | 2016-09-19 | 2016-09-19 | Manipulator joint deceleration mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106352053A CN106352053A (en) | 2017-01-25 |
| CN106352053B true CN106352053B (en) | 2019-02-05 |
Family
ID=57858756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610828977.1A Active CN106352053B (en) | 2016-09-19 | 2016-09-19 | Manipulator joint deceleration mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106352053B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2709164Y (en) * | 2004-07-22 | 2005-07-13 | 陈艺 | Oil cup device of bat printing machine |
| CN105546102A (en) * | 2016-03-02 | 2016-05-04 | 浙江琦星电子有限公司 | Oil seal structure for speed reducing mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5984048A (en) * | 1997-09-10 | 1999-11-16 | Harmonic Drive Systems, Inc. | Lubricant supplying mechanism for a wave gear drive |
| CN202971937U (en) * | 2012-12-12 | 2013-06-05 | 山东荣利中石油机械有限公司 | Magnetic mechanically sealing device |
| CN104373602A (en) * | 2013-08-12 | 2015-02-25 | 苏州维艾普新材料股份有限公司 | Electric field controllable magnetic sealing device |
| CN104832622A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Harmonic reducer of improved structure |
| CN205559576U (en) * | 2016-04-28 | 2016-09-07 | 宁波达尔机械科技有限公司 | Bearing with seal rings |
| CN206054686U (en) * | 2016-09-19 | 2017-03-29 | 浙江琦星电子有限公司 | Manipulator joint reducing gear |
-
2016
- 2016-09-19 CN CN201610828977.1A patent/CN106352053B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2709164Y (en) * | 2004-07-22 | 2005-07-13 | 陈艺 | Oil cup device of bat printing machine |
| CN105546102A (en) * | 2016-03-02 | 2016-05-04 | 浙江琦星电子有限公司 | Oil seal structure for speed reducing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106352053A (en) | 2017-01-25 |
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Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |