CN214293187U

CN214293187U - Mechanical arm joint with double bearing supports

Info

Publication number: CN214293187U
Application number: CN202022799449.2U
Authority: CN
Inventors: 王强; 仝泽宪; 唐建跃
Original assignee: Suzhou Dewangbao Robot Intelligent Technology Co ltd
Current assignee: Suzhou Dewangbao Robot Intelligent Technology Co ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-09-28
Anticipated expiration: 2030-11-27

Abstract

The utility model provides an arm joint with duplex bearing supports. Arm joint with duplex bearing supports includes the casing, the back lid, input module, brake assembly, output module and cross the line sleeve, input module installs in the casing, input module includes first bearing, the second bearing, the cavity input shaft, the rotor, the stator, encoder and control panel, first bearing and the equal fixed connection of second bearing are on shells inner wall, first bearing of installation and second bearing are established to the cavity input shaft, first bearing and second bearing fixed mounting respectively are on first bearing and second bearing, the rotor cover is established on the cavity input shaft, stator fixed connection is in shells inner wall, encoder fixed connection is on the cavity input shaft, control panel fixed connection is in the casing. The utility model provides a arm joint with duplex bearing supports has the transmission stably, and control is accurate, crosses the advantage that line sleeve installation concentricity is high.

Description

Mechanical arm joint with double bearing supports

Technical Field

The utility model relates to a mechanical arm equipment technical field especially relates to a mechanical arm joint with duplex bearing supports.

Background

The mechanical arm is a complex system with multiple inputs and multiple outputs, high precision, nonlinearity and strong coupling, and is widely applied to the fields of industrial assembly, safety explosion prevention and the like, such as explosive ordnance disposal industry, industrial manufacturing, medical treatment, military and the like, due to the unique operation flexibility. With the development of automation and mechanization, the field of mechanical arms is rapidly developed, the mechanical arms are perfectly combined with automation and mechanization, and the application range of the mechanical arm structures such as four joints, five joints and six joints is wide.

The structure generally adopts single bearing structure in the past, and reduction gear one end does not have the bearing to support, directly supports by the reduction gear end cover, and through the lock sleeve, the cooperation of locking preforming and reduction gear end cover is used, carries out axial fixity to threading pipe. And the other end is provided with a support bearing on the structure such as an encoder shell or a bearing mounting frame. The single bearing supporting mode influences the concentricity of the installation of the whole threading pipe. For guaranteeing the inside size of the threading pipe as much as possible, the clearance between the inner cavity of the motor shaft and the threading pipe is small, and the concentricity of the installation of the threading pipe influences the precision of the whole joint, namely the precision of the motor shaft movement, namely the joint is interfered.

Therefore, it is necessary to provide a new mechanical arm joint with dual bearing support to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a light simple and direct, the equipment of being convenient for, the arm joint that has duplex bearing and support that the rotation precision is high.

The utility model provides a mechanical arm joint with duplex bearing supports includes: a housing; a rear cover; the rear cover is arranged on the shell, the input module is arranged in the shell and comprises a first bearing seat, a first bearing, a second bearing seat, a second bearing, a hollow input shaft, a rotor, a stator, an encoder and a control panel, the first bearing seat and the second bearing seat are fixedly connected to the inner wall of the shell, the hollow input shaft is sleeved with the first bearing and the second bearing, the first bearing and the second bearing are fixedly arranged on the first bearing seat and the second bearing seat respectively, the rotor is sleeved on the hollow input shaft, the stator is fixedly connected to the inner wall of the shell, the encoder is fixedly connected to the hollow input shaft, and the control panel is fixedly connected in the shell; a brake assembly mounted within the housing; an output module mounted on the hollow input shaft.

Preferably, brake subassembly includes brake disc, brake pads and cylinder, brake disc fixed connection is on the cavity input shaft and the straight-tooth is seted up to the brake disc lateral wall, the straight-tooth rack form is seted up into on the brake pads top, on cylinder fixed connection and the casing lateral wall, the piston rod fixed connection of brake pads and cylinder.

Preferably, the output module comprises a harmonic reducer, an output flange and a Y-shaped sealing ring, the harmonic reducer is fixedly mounted on the hollow input shaft, the output flange is fixedly connected to the harmonic reducer, the output flange is provided with a plurality of connecting holes, and the Y-shaped sealing ring is mounted at the connecting position of the output flange and the harmonic reducer.

Preferably, a plurality of mounting holes are formed in the shell.

Preferably, the hollow part of the hollow input shaft is provided with a wire passing sleeve.

Compared with the prior art, the utility model provides a mechanical arm joint with duplex bearing supports has following beneficial effect:

1. the first bearing and the second bearing are sleeved on the hollow input shaft, so that the rotation stability of the hollow input shaft is improved, the concentricity of the rear wire passing sleeve is improved, and the rotation precision of the whole mechanical arm is improved;

2. by arranging the brake assembly in the shell, the position occupied by the brake assembly is reduced and the mechanical arm can be stably braked well under the combined use of the cylinder and the brake block of the brake disc, so that the braking accuracy of the mechanical arm is improved;

3. the output flange is provided with the connecting hole, and the shell is provided with the mounting holes, so that the assembling flexibility of the mechanical arm is improved.

Drawings

Fig. 1 is a schematic structural diagram of a mechanical arm joint with dual bearing support according to a preferred embodiment of the present invention;

FIG. 2 is a schematic structural view of the brake assembly shown in FIG. 1;

FIG. 3 is a schematic view of the housing, output flange and rear cover assembly shown in FIG. 1;

reference numbers in the figures: 1. a housing; 2. a rear cover; 3. an input module; 31. a first bearing housing; 32. a first bearing; 33. a second bearing housing; 34. a second bearing; 35. a hollow input shaft; 36. a rotor; 37. a stator; 38. an encoder; 39. a control panel; 4. a brake assembly; 41. a brake disc; 42. a brake pad; 43. a cylinder; 5. an output module; 51. a harmonic reducer; 52. an output flange; 53. a Y-shaped seal ring; 6. The wire passing sleeve is arranged on the outer wall of the shell.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

Please refer to fig. 1, fig. 2 and fig. 3 in combination, wherein fig. 1 is a schematic structural diagram of a mechanical arm joint with dual bearing support according to a preferred embodiment of the present invention; FIG. 2 is a schematic structural view of the brake assembly shown in FIG. 1; FIG. 3 is a schematic view of the housing, output flange and rear cover assembly shown in FIG. 1; the mechanical arm joint with double bearing support comprises: the brake assembly comprises a shell 1, a rear cover 2, an input module 3, a brake assembly 4, an output module 5 and a wire passing sleeve 6.

In a specific implementation process, as shown in fig. 1, 2 and 3, the rear cover 2 is installed on the housing 1, the input module 3 is installed in the housing 1, the input module 3 includes a first bearing seat 31, a first bearing 32, a second bearing seat 33, a second bearing 34, a hollow input shaft 35, a rotor 36, a stator 37, an encoder 38 and a control board 39, the first bearing seat 31 and the second bearing seat 33 are both fixedly connected to an inner wall of the housing 1, the hollow input shaft 35 is sleeved with the first bearing 32 and the second bearing 34, the first bearing 32 and the second bearing 34 are respectively fixedly installed on the first bearing seat 31 and the second bearing seat 33, the rotor 36 is sleeved on the hollow input shaft 35, the stator 37 is fixedly connected to an inner wall of the housing 1, the encoder 38 is fixedly connected to the hollow input shaft 35, and the control board 39 is fixedly connected to the housing 1;

it should be noted that: the installation of first bearing 32 and second bearing 34 is established through the cover to cavity input shaft 35 in being fixed in casing 1, stator 37 is the permanent magnet of N and S utmost point, and circular telegram rotor 36 rotates and drives cavity input shaft 35 and rotate, and encoder 38 and control panel burden 39 are responsible for the control and are specifically rotated the number of turns and control the arm and rotate to accurate position, adopt the duplex bearing to support and make whole transmission more stable, and the rotation vibrations of reduction are to the wearing and tearing of crossing wire sleeve 6 and electric wire.

Referring to fig. 1 and 2, the brake assembly 4 is installed in the housing 1, the brake assembly 4 includes a brake disc 41, a brake block 42 and a cylinder 43, the brake disc 41 is fixedly connected to the hollow input shaft 35, the side wall of the brake disc 41 is provided with straight teeth, the top end of the brake block 42 is provided with a straight rack, the cylinder 43 is fixedly connected to the side wall of the housing 1, and the brake block 42 is fixedly connected to the piston rod of the cylinder 4;

it should be noted that: when the mechanical arm reaches a designated position, braking is needed, the air cylinder 43 is started to push out the piston rod, the brake block 42 fixedly connected to the piston rod moves to contact the brake disc 41, and braking is started through interaction of the straight teeth and the straight teeth rack.

Referring to fig. 1, an output module 5 is mounted on a hollow input shaft 35, the output module 5 includes a harmonic reducer 51, an output flange 53 and a Y-shaped sealing ring 53, the harmonic reducer 51 is fixedly mounted on the hollow input shaft 35, the output flange 52 is fixedly connected to the harmonic reducer 51, the output flange 52 is provided with a plurality of connecting holes, and the Y-shaped sealing ring 53 is mounted at the connecting position of the output flange 52 and the harmonic reducer 51;

it should be noted that: the output module 5 is installed on the hollow input shaft 35 through the harmonic reducer 51, the high-speed rotation of the hollow input shaft 35 is converted into power required by the mechanical arm during working, the mechanical arm connected to the connecting hole is controlled through the rotation of the output flange 52, and the Y-shaped sealing ring 53 plays a role in sealing the connecting position and improves the connection stability.

Referring to fig. 1 and 3, a plurality of mounting holes are formed outside the housing 1;

it should be noted that: the shell 1 is externally provided with a mounting hole, so that a mechanical joint can be conveniently mounted on the mechanical arm, and the mechanical arm can be more conveniently detached and maintained.

Referring to fig. 1, the hollow input shaft 35 is provided with a wire passing sleeve 6 at the hollow part;

it should be noted that: the wire passing sleeve 6 is used for electric control circuit wiring, and abrasion and damage to the circuit when the mechanical arm works are reduced.

The utility model discloses circuit and control that relate to are prior art, do not carry out too much repetition here.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. A robotic arm joint with dual bearing support, comprising:

a housing (1);

the rear cover (2), the said rear cover (2) is mounted on body (1);

the input module (3) is installed in the shell (1), the input module (3) comprises a first bearing seat (31), a first bearing (32), a second bearing seat (33), a second bearing (34), a hollow input shaft (35), a rotor (36), a stator (37), an encoder (38) and a control panel (39), the first bearing seat (31) and the second bearing seat (33) are fixedly connected to the inner wall of the shell (1), the hollow input shaft (35) is sleeved with the first bearing (32) and the second bearing (34), the first bearing (32) and the second bearing (34) are fixedly installed on the first bearing seat (31) and the second bearing seat (33) respectively, the rotor (36) is sleeved on the hollow input shaft (35), the stator (37) is fixedly connected to the inner wall of the shell (1), and the encoder (38) is fixedly connected to the hollow input shaft (35), the control panel (39) is fixedly connected in the shell (1);

the brake assembly (4), the said brake assembly (4) is mounted in body (1);

an output module (5), the output module (5) being mounted on the hollow input shaft (35).

2. The mechanical arm joint with double bearing supports as claimed in claim 1, wherein the brake assembly (4) comprises a brake disc (41), a brake block (42) and a cylinder (43), the brake disc (41) is fixedly connected to the hollow input shaft (35) and the side wall of the brake disc (41) is provided with straight teeth, the top end of the brake block (42) is provided with a straight rack shape, the cylinder (43) is fixedly connected to the side wall of the housing (1), and the brake block (42) is fixedly connected to the piston rod of the cylinder (43).

3. The mechanical arm joint with double bearing supports as claimed in claim 1, wherein the output module (5) comprises a harmonic reducer (51), an output flange (52) and a Y-shaped sealing ring (53), the harmonic reducer (51) is fixedly installed on the hollow input shaft (35), the output flange (52) is fixedly connected to the harmonic reducer (51), the output flange (52) is provided with a plurality of connecting holes, and the Y-shaped sealing ring (53) is installed at the connecting position of the output flange (52) and the harmonic reducer (51).

4. The mechanical arm joint with double bearing support according to claim 1, characterized in that the housing (1) is externally provided with a plurality of mounting holes.

5. The mechanical arm joint with double bearing support according to claim 1, characterized in that the hollow input shaft (35) is mounted with a wire passing sleeve (6) in the hollow portion.