CN106426147A - Speed reducer subassembly and have its robot - Google Patents
Speed reducer subassembly and have its robot Download PDFInfo
- Publication number
- CN106426147A CN106426147A CN201610806442.4A CN201610806442A CN106426147A CN 106426147 A CN106426147 A CN 106426147A CN 201610806442 A CN201610806442 A CN 201610806442A CN 106426147 A CN106426147 A CN 106426147A
- Authority
- CN
- China
- Prior art keywords
- thermomechanical components
- joint arm
- deceleration thermomechanical
- robot
- reductor
- 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.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 11
- 230000035515 penetration Effects 0.000 claims description 45
- 230000000930 thermomechanical effect Effects 0.000 claims description 34
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 abstract 3
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
-
- 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
- F16H2057/02039—Gearboxes for particular applications
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a speed reducer assembly and a robot with the same, wherein the speed reducer assembly comprises a speed reducer, and the speed reducer assembly further comprises: the threading pipe is arranged in the speed reducer in a penetrating mode, and the speed reducer rotates around the threading pipe and is used for enabling a live wire electrified by the motor to be arranged in the threading pipe in a penetrating mode. The speed reducer assembly solves the problem that a live wire penetrating through a speed reducer is easily abraded in the prior art.
Description
Technical field
The present invention relates to intelligent machine field, in particular to a kind of deceleration thermomechanical components and the robot with which.
Background technology
With the popularization and application of industrial automation, the use of industrial robot is more and more extensive, is related to each row each
Industry.
In the prior art, industrial robot includes base and the first joint being arranged on base, sets on the first joint
Second joint is equipped with, first joint and second joint are driven by the first motor and the second motor respectively, the bottom of at
The live wire for being energized for motor is stretched out on seat.
However, due to for needing through the reductor on the first joint for the live wire of the second motor energising, leading to
Electric wire, will make to rub between live wire and reductor through the hollow region of reductor so, when reductor is rotated
Wipe, and then so that live wire is worn and torn.
Content of the invention
Present invention is primarily targeted at a kind of deceleration thermomechanical components and the robot with which are provided, to solve prior art
In the problem being easily worn through the live wire of reductor.
To achieve these goals, according to an aspect of the invention, there is provided a kind of deceleration thermomechanical components, including slowing down
Machine, deceleration thermomechanical components also include：Penetration pipe, penetration pipe is located in reductor, and reductor is rotated around penetration pipe, for for motor
The live wire of energising is located in penetration pipe.
Further, reductor is on joint arm, and penetration pipe includes main pipe and the company for being connected with joint arm
Socket part.
Further, connecting portion is to be arranged on the flange portion on the outside of main pipe.
Further, the first connecting hole being provided with flange portion, is provided with the second connecting hole, flange portion and pass on joint arm
Joint arm is connected by being located in the securing member of the first connecting hole and the second connection in the hole.
Further, connecting portion is arranged on the end of main pipe.
Further, the outside of main pipe is provided with defining flange, and defining flange is connected with connecting portion.
Further, on the outer wall of main pipe, limited step is provided with, limited step is arranged on main pipe away from connecting portion
One end.
Further, limited step is ring-shaped step.
According to a further aspect in the invention, there is provided a kind of robot, including motor, robot also includes：Slow down
Thermomechanical components, deceleration thermomechanical components are above-mentioned deceleration thermomechanical components；Wherein, the live wire for being energized for motor passes through reductor
The penetration pipe of component.
Further, robot also includes base and the first joint arm on base, and deceleration thermomechanical components are arranged on
On first joint arm.
Further, robot also includes second joint arm, and second joint arm is arranged on reducer assemblies and closes away from first
The side of joint arm, penetration pipe passes through second joint arm.
Deceleration thermomechanical components in the present invention include reductor and penetration pipe, as penetration pipe is located in reductor, and subtract
Fast machine is rotated around penetration pipe, for being located in the penetration pipe, so for the live wire of electrical power, when reductor is rotated,
Live wire can be remained stationary as in penetration pipe, it is to avoid rubbed between live wire and reductor, solve prior art
In the problem being easily worn through the live wire of reductor.
Description of the drawings
The Figure of description for constituting the part of the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property and its is illustrated for explaining the present invention embodiment, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows the structural representation of the embodiment of the penetration pipe of the deceleration thermomechanical components according to the present invention；
Fig. 2 shows the A-A sectional view of the penetration pipe of the deceleration thermomechanical components in Fig. 1；And
Fig. 3 shows the structural representation of the embodiment of the robot according to the present invention.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling：
10th, reductor；20th, penetration pipe；21st, main pipe；22nd, connecting portion；23rd, defining flange；24th, limited step；30th, bottom
Seat；40th, the first joint arm；50th, second joint arm.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
The invention provides a kind of deceleration thermomechanical components, including reductor 10, refer to Fig. 1 to Fig. 3, deceleration thermomechanical components are also wrapped
Include：Penetration pipe 20, penetration pipe 20 is located in reductor 10, and reductor 10 is rotated around penetration pipe 20, for for electrical power
Live wire is located in penetration pipe 20.
Deceleration thermomechanical components in the present invention include reductor 10 and penetration pipe 20, as penetration pipe 20 is located in reductor 10
Interior, and reductor 10 rotated around penetration pipe 20, for for the live wire of electrical power be located in the penetration pipe 20, so, when
When reductor 10 is rotated, live wire can be remained stationary as in penetration pipe 20, it is to avoid rubbed between live wire and reductor
Wipe, solve the problems, such as that the live wire through reductor of the prior art is easily worn.
In the present embodiment, as shown in Figure 1 to Figure 3, reductor 10 is on joint arm, and penetration pipe 20 includes main pipe
21 and the connecting portion 22 for being connected with joint arm.Preferably, main pipe 21 passes through reductor 10.
The concrete structure of the connecting portion 22 in the present embodiment is that as shown in Figure 1 to Figure 3, connecting portion 22 is for being arranged on supervisor
The flange portion in 21 outside of body.
Specifically, as shown in figure 3, being provided with the first connecting hole in flange portion, the second connecting hole, method are provided with joint arm
Blue portion and joint arm are connected by being located in the securing member of the first connecting hole and the second connection in the hole.As such, it is possible to more convenient
Realize between joint arm and penetration pipe 20 connection.
In the present embodiment, as depicted in figs. 1 and 2, connecting portion 22 is arranged on the end of main pipe 21.As such, it is possible to compare
Fixation to penetration pipe 20 is more easily realized.
In the present embodiment, as depicted in figs. 1 and 2, the outside of main pipe 21 is provided with defining flange 23, defining flange 23
It is connected with connecting portion 22.The present embodiment realizes the limit between the first joint arm 40 and penetration pipe 20 by arranging defining flange 23
Position.Preferably, the first through hole being provided with the first joint arm 40 for passing through penetration pipe 20, the outer peripheral face of defining flange 23
It is affixed with the hole wall of the first through hole.Preferably, formed between defining flange 23 and connecting portion 22 step-like.
In the present embodiment, as shown in Figure 1 to Figure 3, on the outer wall of main pipe 21, limited step 24, limited step are provided with
24 are arranged on the one end of main pipe 21 away from connecting portion 22.Be provided with the second through hole on second joint arm 50, limited step 24 with
Second joint arm 50 matches.
Specifically, limited step 24 is ring-shaped step.The ring-shaped step is inserted in the second through hole.
Present invention also offers a kind of robot, including motor, as shown in figure 3, robot also includes：Deceleration unit
Part, deceleration thermomechanical components are above-mentioned deceleration thermomechanical components；Wherein, the live wire for being energized for motor passes through deceleration thermomechanical components
Penetration pipe 20.
The live wire of the robot in the present embodiment can pass through penetration pipe 20, slow down the abrasion of live wire, extend
The service life of robot.
In the present embodiment, as shown in figure 3, robot also includes base 30 and the first joint arm on base 30
40, deceleration thermomechanical components are on the first joint arm 40.On this basis, penetration pipe 20 is on base 30.
In the present embodiment, as shown in figure 3, robot also includes second joint arm 50, second joint arm 50 is arranged on and subtracts
Fast device assembly passes through second joint arm 50 away from the side of the first joint arm 40, penetration pipe 20.The present embodiment is spacing by arranging
Step 24 can be realized spacing between penetration pipe 20 and second joint arm 50.
The artificial four axles robot of machine in the technical program, which can be applicable to carry out article on the production line of all trades and professions
Take, move, transport.
The technical program is using DD motor as driving means, and the torque for exporting during its work is bigger, replaces traditional watching
The driving means of motor configuration reducing motor or gear train composition are taken, feed speed control is better, whole four axis robot
Integration degree more preferably.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect：
Deceleration thermomechanical components in the present invention include reductor and penetration pipe, as penetration pipe is located in reductor, and subtract
Fast machine is rotated around penetration pipe, for being located in the penetration pipe, so for the live wire of electrical power, when reductor is rotated,
Live wire can be remained stationary as in penetration pipe, it is to avoid rubbed between live wire and reductor, solve prior art
In the problem being easily worn through the live wire of reductor.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (11)
1. a kind of deceleration thermomechanical components, including reductor (10), it is characterised in that the deceleration thermomechanical components also include：
Penetration pipe (20), penetration pipe (20) are located in the reductor (10), and reductor (10) are around the threading
Pipe (20) rotation, for being located in the penetration pipe (20) for the live wire of electrical power.
2. deceleration thermomechanical components according to claim 1, it is characterised in that described reductor (10) on joint arm,
Described penetration pipe (20) include main pipe (21) and the connecting portion (22) for being connected with the joint arm.
3. deceleration thermomechanical components according to claim 2, it is characterised in that described connecting portion (22) are for being arranged on the supervisor
Flange portion on the outside of body (21).
4. deceleration thermomechanical components according to claim 3, it is characterised in that be provided with the first connecting hole in the flange portion,
It is provided with the second connecting hole on the joint arm, the flange portion and the joint arm are by being located in the first connecting hole and described
The securing member connection of the second connection in the hole.
5. deceleration thermomechanical components according to claim 2, it is characterised in that connecting portion (22) are arranged on the main pipe
(21) end.
6. deceleration thermomechanical components according to any one of claim 2 to 5, it is characterised in that main pipe (21) outer
Side is provided with defining flange (23), and defining flange (23) are connected with the connecting portion (22).
7. deceleration thermomechanical components according to claim 5, it is characterised in that arrange on the outer wall of main pipe (21) limited
Position step (24), limited step (24) are arranged on the one end of the main pipe (21) away from the connecting portion (22).
8. deceleration thermomechanical components according to claim 7, it is characterised in that described limited step (24) be.
9. a kind of robot, including motor, it is characterised in that the robot also includes：
Deceleration thermomechanical components, the deceleration thermomechanical components are the deceleration thermomechanical components any one of claim 1 to 8；
Wherein, the live wire for being energized for the motor passes through the penetration pipe (20) of the deceleration thermomechanical components.
10. robot according to claim 9, it is characterised in that the robot also includes base (30) and is arranged on
The first joint arm (40) on base (30), the deceleration thermomechanical components are on the first joint arm (40).
11. robots according to claim 10, it is characterised in that the robot also includes second joint arm (50),
Second joint arm (50) are arranged on side of the reducer assemblies away from the first joint arm (40), the penetration pipe
(20) second joint arm (50) are passed through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806442.4A CN106426147A (en) | 2016-09-05 | 2016-09-05 | Speed reducer subassembly and have its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806442.4A CN106426147A (en) | 2016-09-05 | 2016-09-05 | Speed reducer subassembly and have its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426147A true CN106426147A (en) | 2017-02-22 |
Family
ID=58164905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610806442.4A Pending CN106426147A (en) | 2016-09-05 | 2016-09-05 | Speed reducer subassembly and have its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426147A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109372978A (en) * | 2018-12-18 | 2019-02-22 | 广东原点智能技术有限公司 | Novel speed reducer |
| WO2021081746A1 (en) * | 2019-10-29 | 2021-05-06 | Abb Schweiz Ag | Apparatus for holding cables of robot and associated robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007237346A (en) * | 2006-03-09 | 2007-09-20 | Tci:Kk | Conveying robot arm |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot cavity speed reducer harmonic generator mounting structure |
| CN204592224U (en) * | 2015-04-30 | 2015-08-26 | 苏州灵猴机器人有限公司 | Anti-wear hollow reducer |
| CN105058368A (en) * | 2015-08-17 | 2015-11-18 | 合肥泰禾光电科技股份有限公司 | Four-shaft linkage mechanical arm |
| CN206029893U (en) * | 2016-09-05 | 2017-03-22 | 珠海格力智能装备有限公司 | Speed reducer subassembly and have its robot |
-
2016
- 2016-09-05 CN CN201610806442.4A patent/CN106426147A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007237346A (en) * | 2006-03-09 | 2007-09-20 | Tci:Kk | Conveying robot arm |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot cavity speed reducer harmonic generator mounting structure |
| CN204592224U (en) * | 2015-04-30 | 2015-08-26 | 苏州灵猴机器人有限公司 | Anti-wear hollow reducer |
| CN105058368A (en) * | 2015-08-17 | 2015-11-18 | 合肥泰禾光电科技股份有限公司 | Four-shaft linkage mechanical arm |
| CN206029893U (en) * | 2016-09-05 | 2017-03-22 | 珠海格力智能装备有限公司 | Speed reducer subassembly and have its robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109372978A (en) * | 2018-12-18 | 2019-02-22 | 广东原点智能技术有限公司 | Novel speed reducer |
| CN109372978B (en) * | 2018-12-18 | 2024-03-12 | 广东原点智能技术有限公司 | Novel speed reducer |
| WO2021081746A1 (en) * | 2019-10-29 | 2021-05-06 | Abb Schweiz Ag | Apparatus for holding cables of robot and associated robot |
| CN114630733A (en) * | 2019-10-29 | 2022-06-14 | Abb瑞士股份有限公司 | Device for holding a cable of a robot and related robot |
| US20220388184A1 (en) * | 2019-10-29 | 2022-12-08 | Abb Schweiz Ag | Apparatus for holding cables of robot and associated robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |