CN208614825U - A kind of compact type joint of robot executing agency - Google Patents
A kind of compact type joint of robot executing agency Download PDFInfo
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- CN208614825U CN208614825U CN201821324886.5U CN201821324886U CN208614825U CN 208614825 U CN208614825 U CN 208614825U CN 201821324886 U CN201821324886 U CN 201821324886U CN 208614825 U CN208614825 U CN 208614825U
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- shell
- main shaft
- solid main
- rear flange
- rear end
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Abstract
The utility model discloses a kind of compact type joint of robot executing agencies, including solid main shaft, harmonic speed reducer, shell, rimless motor, rear flange, encoder and rear end cap；Rear flange is provided at the seam allowance position of shell, rear end cap, rear flange and shell are abutted by axis pin of column, and first bearing component and second bearing component are housed on the bearing position at solid main shaft both ends；Rear flange seam allowance on the inside of rear end cap has been embedded in encoder；Rimless motor is installed, solid main shaft is equipped with keyway, and the wave producer of harmonic speed reducer is embedded in keyway and connect with solid main shaft, and the flexbile gear of harmonic speed reducer is fixedly connected with sensor transfer panel by pin hole between shell and solid main shaft.The utility model proposes a kind of compact type joint of robot executing agency, structure is simple, compact, small in size, light weight and the joint of robot mould group that can be realized joint rotation function.
Description
Technical field
The utility model belongs to joint of robot field, specially a kind of compact type joint of robot executing agency.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot, the mechanical automation operation suitable for many industrial circles.And compact-sized robot
Joint executing agency applies in articulated robot rehabilitation joint field, can assist health by automation control, programming
The function of joint of multiple people.
Since existing joint of robot is all applied in industrial circle, it is desirable that precision is high, the service life is long, use environment is severe
It carves, so these intra articulars generally require complicated part configuration and robust shell, it is non-to cause manufacturing cost
Chang Anggui, and size is larger, and volume ratio is cumbersome.
Practical content
The purpose of this utility model be in view of the above problems, provide a kind of compact type joint of robot executing agency,
Its structure is simple, compact, small in size, light weight and the joint of robot mould group that can be realized joint rotation function.
In order to achieve the above object, the technical solution adopted in the utility model is: a kind of compact type joint of robot is held
Row mechanism, including solid main shaft, harmonic speed reducer, shell, rimless motor, rear flange, encoder and rear end cap；Its feature exists
In, rear flange is provided at the seam allowance position of the shell, the rear end cap, rear flange and shell are abutted by axis pin of column, by
Rear end cap, rear flange, shell left side encapsulate, and first bearing component and the second axis are housed on the bearing position at the solid main shaft both ends
The extension of bearing portion part, second bearing component and cage connection, first bearing component and rear flange connects；On the inside of rear end cap
Rear flange seam allowance be embedded in encoder；Rimless motor, the rimless motor are installed between the shell and solid main shaft
Stator connected with outer casing inner wall, rotor connects solid main shaft, and the solid main shaft is equipped with keyway, and the wave of harmonic speed reducer occurs
Device is embedded in keyway and connect with solid main shaft, and the flexbile gear and sensor transfer panel of the harmonic speed reducer connect by the way that pin hole is fixed
It connects.
Further, the shell is aluminium alloy work piece.
Further, the rear end cap is equipped with chamfering.
Further, the rear flange is equipped with outlet hole.
The utility model has the following beneficial effects:
1. its structure is simple, compact, small in size, light weight and the joint of robot that can be realized joint rotation function
Mould group.
2. the Integrated design of shell and rear flange, it is possible to reduce mating surface improves machining accuracy, improves assembly precision, disappears
Except accumulated error；Shell and rear flange coupling part can use rounded structure to greatest extent, and reduction material so is locally answered
Power improves service life, and reduces the usage amount of material, to mitigate weight.
3. the extension of first bearing component and rear flange connects, makes bearing position to rimless motor internal stretch, in this way may be used
To reduce axial dimension to greatest extent, structure is more compact.
4. the installation position of encoder uses Embedded structure, such structure is more compact.
5. harmonic wave speed reducing machine is using hole key fit system is customized, convenient for improving installation accuracy and installation convenience.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model joint executing agency.
Fig. 2 is the sectional perspective structural schematic diagram of the utility model.
Fig. 3 is the schematic cross-sectional view of Fig. 2.
Fig. 4 is partial enlargement structural representation at A in Fig. 3.
Fig. 5 is the structural schematic diagram of solid main shaft.
Fig. 6 is the structural schematic diagram of rear end cap.
Fig. 7 is the structural schematic diagram of rear flange.
Fig. 8 is the result schematic diagram of shell,
Fig. 9 is the structural schematic diagram of harmonic speed reducer.
Label character described in figure indicates are as follows: solid main shaft；2, rimless motor；3, shell；4, rear end cap；5, rear flange；
6, harmonic speed reducer；7, sensor transfer panel；8, encoder；9, rotor；10, first bearing component；11, second bearing component；
12, keyway；13, wave producer；14, flexbile gear；15, steel wheel.
Specific embodiment
In order to enable those skilled in the art to better understand the technical solutions of the present invention, with reference to the accompanying drawing to this reality
Be described in detail with novel, the description of this part be only it is exemplary and explanatory, should not be to the protection scope of the utility model
There is any restriction effect.
As shown in figs. 1-9, the specific structure of the utility model are as follows: including solid main shaft 1, harmonic speed reducer 6, shell 3,
Rimless motor 2, rear flange 5, encoder 8 and rear end cap 4；It is characterized in that, being provided with rear method at the seam allowance position of the shell 3
Orchid 5, the rear end cap 4, rear flange 5 and shell 3 are abutted by axis pin of column, will be sealed on the left of rear end cap 4, rear flange 5, shell 3
It fills, first bearing component 10 and second bearing component 11, second bearing component is housed on the bearing position at solid 1 both ends of main shaft
11 connect with shell 3, and first bearing component 10 is connect with the extension of rear flange 5；Rear flange 5 positioned at 4 inside of rear end cap stops
Mouth has been embedded in encoder 8；Rimless motor 2, the stator of the rimless motor 2 are installed between the shell 3 and solid main shaft 1
3 inner wall of connected with outer casing, rotor 9 connect solid main shaft 1, and the solid main shaft 1 is equipped with keyway 12, and the wave of harmonic speed reducer 6 is sent out
Raw device is embedded in keyway 12 to be connect with solid main shaft 1, and the flexbile gear and sensor transfer panel 7 of the harmonic speed reducer 6 pass through pin
Hole is fixedly connected.
Preferably, the shell 3 is aluminium alloy work piece.
Preferably, the rear end cap 4 is equipped with chamfering.
Preferably, the rear flange 5 is equipped with outlet hole.
The assembly technology of joint of robot executing agency Fig. 1 is: first rimless 2 stator of motor being attached in the shell 3 in Fig. 8
The solid main shaft 1 of Fig. 5 in place, is then attached on rimless 2 rotor of motor, the bearing position at solid 1 both ends of main shaft Fig. 5 is loaded by cooperation
The second bearing component 11 of solid main shaft 1 is connect by bearing with shell 3, then Fig. 7 rear flange 5 is attached to stopping for Fig. 8 shell 3
In mouthful, and make bearing fit on 5 bearing chamber of rear flange and the solid main shaft 1 of Fig. 5 in place, then by method after encoder load map 7
In the seam allowance of orchid 5, then Fig. 6 rear end cap 4 is attached on Fig. 7 rear flange 5, Fig. 9 harmonic speed reducer 13 is finally attached to the outer of Fig. 8
On shell 3
Working principle: under energized state, according to design programming, the motor that encoder 8 controls rimless motor 2 turns encoder 8
Son 9 rotates, and when rotor 9 rotates, solid main shaft 1 is driven to rotate, and then drives the wave producer rotation of harmonic speed reducer 6, due to
The flexbile gear 14 of harmonic speed reducer 6 be it is fixed, wave producer 13 will drive steel wheel 15 realize slow down.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Specific case used herein is expounded the principles of the present invention and embodiment, above example
Illustrate the method and its core concept for being merely used to help understand the utility model.The above is only the preferred of the utility model
Embodiment, it is noted that due to the finiteness of literal expression, and objectively there is unlimited specific structure, for this technology
For the those of ordinary skill in field, without departing from the principle of this utility model, several improvement, retouching can also be made
Or variation, above-mentioned technical characteristic can also be combined in the right way；These improve retouching, variation or combination, or not
It is improved that practical conception and technical scheme are directly applied into other occasions, it is regarded as the protection model of the utility model
It encloses.
Claims (4)
1. a kind of compact type joint of robot executing agency, including solid main shaft (1), harmonic speed reducer (6), shell (3),
Rimless motor (2), rear flange (5), encoder (8) and rear end cap (4)；It is characterized in that, at the seam allowance position of the shell (3)
It is provided with rear flange (5), the rear end cap (4), rear flange (5) and shell (3) are abutted by axis pin of column, by rear end cap
(4), rear flange (5), shell (3) left side encapsulate, and first bearing component is housed on the bearing position at solid main shaft (1) both ends
(10) it is connect with second bearing component (11), second bearing component (11) with shell (3), first bearing component (10) and rear flange
(5) extension connection；Rear flange (5) seam allowance on the inside of rear end cap (4) has been embedded in encoder (8)；The shell (3)
It is equipped between solid main shaft (1) rimless motor (2), stator connected with outer casing (3) inner wall of the rimless motor (2), rotor
(9) solid main shaft (1) is connected, the solid main shaft (1) is equipped with keyway (12), and the wave producer of harmonic speed reducer (6) is inlayed
It is connect in keyway (12) with solid main shaft (1), the flexbile gear of the harmonic speed reducer (6) and sensor transfer panel (7) pass through pin
Hole is fixedly connected.
2. a kind of compact type joint of robot executing agency according to claim 1, which is characterized in that described is outer
Shell (3) is aluminium alloy work piece.
3. a kind of compact type joint of robot executing agency according to claim 1, which is characterized in that the rear end
It covers (4) and is equipped with chamfering.
4. a kind of compact type joint of robot executing agency according to claim 1, which is characterized in that method after described
Blue (5) are equipped with outlet hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821324886.5U CN208614825U (en) | 2018-08-17 | 2018-08-17 | A kind of compact type joint of robot executing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821324886.5U CN208614825U (en) | 2018-08-17 | 2018-08-17 | A kind of compact type joint of robot executing agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208614825U true CN208614825U (en) | 2019-03-19 |
Family
ID=65715283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821324886.5U Active CN208614825U (en) | 2018-08-17 | 2018-08-17 | A kind of compact type joint of robot executing agency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208614825U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN111890345A (en) * | 2020-07-15 | 2020-11-06 | 北京圆海传智科技有限公司 | High torque density robot driving joint module |
-
2018
- 2018-08-17 CN CN201821324886.5U patent/CN208614825U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN111745630B (en) * | 2020-06-04 | 2023-12-15 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN111890345A (en) * | 2020-07-15 | 2020-11-06 | 北京圆海传智科技有限公司 | High torque density robot driving joint module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210618 Address after: 215128 Room 101, building 7, 1258 Jinfeng South Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Zhuoyu Electric Technology Co.,Ltd. Address before: 100025 room 510, 5th floor, building 1, No.2 Yanjing Xili, Chaoyang District, Beijing Patentee before: BEIJING JOY-MOTION TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |