CN217891006U

CN217891006U - Fixing flange

Info

Publication number: CN217891006U
Application number: CN202121586590.2U
Authority: CN
Inventors: 何龙; 陈恩泽; 李祥; 谷菲; 朱路生; 李良军
Original assignee: Chengdu Kanop Robot Technology Co ltd
Current assignee: Chengdu Kanop Robot Technology Co ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2022-11-25
Anticipated expiration: 2031-07-13

Abstract

The utility model discloses a mounting flange, this mounting flange center department are provided with first through-hole, and the mounting flange up end is provided with the installation department with axle center with first through-hole, is provided with walking line portion, first mounting structure, second mounting structure on the installation department, first mounting structure, second mounting structure all with axle center with first through-hole. The utility model discloses a mounting flange replaces current adoption bevel gear driven structure for industrial robot wrist structure adopts the motor direct-connected structure, and mounting flange has played the effect of holding and has opened and shut down, has not only reduced part quantity, and part structure is simpler, and processing is convenient, has improved assembly efficiency, has reduced cost of maintenance.

Description

Fixing flange

Technical Field

The utility model relates to an industrial robot technical field especially relates to a mounting flange.

Background

The wrist transmission part of the robot is used for connecting the arm of the robot and the end actuating mechanism, is positioned at the extreme end of the joint of the robot, has the similar action with the wrist of a human body, and is used for adjusting or changing the posture of the end so as to ensure that the end actuating mechanism of the robot meets the specific action requirement, so the wrist has independent degree of freedom. Because the transmission precision inside the wrist affects the precision and stability of the whole robot, the transmission structure is designed to be simple and compact under the condition of meeting the structural strength and the use requirement, and the volume and the weight of the appearance and the internal structure of the wrist are reduced, so that the positioning precision of the wrist is improved.

At present, the tail end of the wrist of the robot is directly connected with an execution mechanism, and an auxiliary mechanism is also arranged outside the wrist, so that the tail end of the wrist is relatively limited in overall dimension, the size of the tail end of the wrist is relatively large, meanwhile, the weight of the tail end of the wrist is relatively sensitive to the load performance of the whole robot, the weight of the body exceeds the standard, the workload is reduced, the efficiency is low, and the energy consumption is excessive.

At present, a bevel gear transmission structure is adopted in the six shafts, the transmission precision of the structure is ensured, the transmission tooth gaps of driving and driven bevel gears need to be reduced, the requirements on machining and installation of gears are high, the problems of high transmission noise, high cost and the like exist, the number of parts of the structure is large, and therefore the transmission and installation structure is improved, and the transmission precision and the assembly efficiency are improved.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mounting flange to solve the terminal weight of current robot wrist too big, the transmission precision is not high, the problem that assembly efficiency is low.

The utility model adopts the technical proposal that: the utility model provides a fixing flange, fixing flange center department is provided with first through-hole, the fixing flange up end be provided with the installation department of first through-hole with the axle center, be provided with walking line portion, first mounting structure, second mounting structure on the installation department, first mounting structure, second mounting structure all with first through-hole is with the axle center.

As an optimal mode of mounting flange, the installation department sets up for the symmetry the first arc boss of first through-hole both sides, the walking line portion is U type notch, first mounting structure is for setting up step tang on the first arc boss inside wall, second mounting structure is for setting up a plurality of screw holes on the first arc boss terminal surface.

The beneficial effects of the utility model are that: the utility model discloses a mounting flange replaces current adoption bevel gear driven structure for industrial robot wrist structure adopts the motor direct-connected structure, and mounting flange has played the effect of holding down, has not only reduced part quantity, and part structure is simpler, and processing is convenient, has improved assembly efficiency, has reduced cost of maintenance. The wrist structure of the robot is directly connected through the fixing flange, so that the action response speed and the transmission precision of the joint are improved, and the wrist structure is a key transmission part on the robot body, so that the precision, the running speed and the stability of the whole industrial robot are improved.

Drawings

Fig. 1 is the utility model discloses a mounting flange structure sketch map.

Fig. 2 is the structure schematic diagram of the utility model discloses a mounting flange, stopper and motor mounting panel after the equipment.

Fig. 3 is a schematic structural view of the motor mounting plate disclosed in the present invention.

Fig. 4 is a schematic structural diagram of the wrist structure of the industrial robot disclosed in the present invention.

Fig. 5 is another schematic structural diagram of the wrist structure of the industrial robot disclosed in the present invention.

Fig. 6 is a partial cross-sectional view of a wrist structure of an industrial robot according to the present invention.

Fig. 7 is another partial cross-sectional view of the wrist structure of the industrial robot disclosed in the present invention.

Reference numerals: 1. a wrist housing; 2. a fixed flange; 201. a first arc-shaped boss; 2011. a step spigot; 2012. a U-shaped notch; 2013. a threaded hole; 202. a first through hole; 3. a motor mounting plate; 301. connecting the ear plates; 302. a second arc-shaped boss; 303. a second through hole; 4. a brake; 5. a first screw; 6. a spline shaft; 7. a second screw; 8. a first harmonic reducer; 9. a servo motor; 10. a metal plate bracket; 11. a third screw; 12. a fourth screw; 13. a fifth screw; 14. a first seal ring; 15. a second seal ring; 16. positioning pins; 17. a deep groove ball bearing; 18. oil sealing; 19. a support sleeve; 20. a second harmonic reducer; 21. a synchronizing wheel; 22. and a sixth screw.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Referring to fig. 1, a first through hole 202 is formed in the center of a fixing flange 2, an installation portion coaxial with the first through hole 202 is arranged on the upper end face of the fixing flange 2, a routing portion, a first installation structure and a second installation structure are arranged on the installation portion, and the first installation structure and the second installation structure are coaxial with the first through hole 202.

Specifically, the installation department is the first arc boss 201 of symmetry setting in first through-hole 202 both sides, and the routing portion is U type notch 2012, and first mounting structure is the step tang 2011 of setting on first arc boss 201 inside wall, and the three screw hole 2013 of second mounting structure for setting on first arc boss 201 terminal surface.

This mounting flange is used for industrial robot wrist, and it is used for realizing positioning motor mounting panel 3, guarantees motor mounting panel 3 and mounting flange 2's coaxial axle center requirement. Can avoid because of the too much loss of servo motor energy consumption that the assembly decentraction caused, efficiency reduces, also can guarantee industrial robot wrist stability at the operation in-process simultaneously, reduces the vibration to improve its motion accuracy.

Referring to fig. 4-7, in order to further explain the structure and function of the fixing flange 2, the utility model discloses a wrist structure of industrial robot containing the fixing flange 2 is elucidated, and the wrist structure of industrial robot includes wrist casing 1, motor mounting panel 3, stopper 4, first harmonic speed reducer 8, servo motor 9, panel beating support 10, deep groove ball bearing 17, oil blanket 18, support cover 19, second harmonic speed reducer 20, synchronizing wheel 21 to and foretell fixing flange 2.

Specifically, referring to fig. 6, the fixing flange 2 is installed on the wrist housing 1 to form an accommodating cavity, the servo motor 9 is located in the accommodating cavity, the servo motor 9 is installed on the motor installation plate 3, and the motor installation plate 3 is installed in cooperation with the step seam allowance 2011 and the threaded hole 2013 on the fixing flange 2.

The structure of the motor mounting plate 3 is as shown in fig. 3, three connecting ear plates 301 are arranged on the motor mounting plate 3, through holes are arranged on the connecting ear plates 301, a second through hole 303 is arranged at the center of the motor mounting plate 3, and a second arc-shaped boss 302 is arranged outside the second through hole 303. Motor mounting panel 3, the installation map of stopper 4 and mounting flange 2 is shown in fig. 2, be provided with on the second arc boss 302 lateral wall with step tang 2011 matched with flange, be provided with on the second arc boss 302 inside wall with stopper 4 matched with tang, install back on the tang of second arc boss 302 inside wall with stopper 4, cooperate the flange of second arc boss 302 lateral wall with step tang 2011 on mounting flange 2 again, then pass the screw on the through-hole that connects otic placode 301 on be connected to on the screw hole 2013 on the first arc boss 201 through the screw. The wire of the brake 4 exits from the U-shaped notch 2012. After being installed, the brake 4 is sleeved on the shaft of the servo motor 9.

The first harmonic speed reducer 8 is installed in a step hole on the lower end face of the fixed flange 2. The first harmonic speed reducer 8 is connected with a shaft of the servo motor 9, specifically, a spline shaft 6 is mounted on the shaft of the servo motor 9, and a spline sleeve matched with the spline shaft 6 is fixed on a wave generator of the first harmonic speed reducer 8.

The wrist shell 1, the servo motor 9, the motor mounting plate 3, the brake 4, the fixing flange 2 and the first harmonic speed reducer 8 are all coaxially mounted.

The harmonic speed reducer is mainly composed of four basic components of a wave generator, a flexible gear, a flexible bearing and a rigid gear, and is a gear transmission which is formed by assembling the flexible bearing on the wave generator to enable the flexible gear to generate controllable elastic deformation and is meshed with the rigid gear to transmit motion and power.

At present, the industry of industrial robots is more and more wide, and in order to be suitable for different working scenes, higher requirements are provided for various performance indexes and overall dimensions of the robots. In order to make the sealing performance of the wrist structure of the robot better. Specifically, industrial robot wrist structure still includes first sealing washer 14 and second sealing washer 15, and mounting flange 2's up end and lower terminal surface all are provided with the seal groove, and mounting first sealing washer 14 in the mounting flange 2 up end seal groove, mounting second sealing washer 15 in the lower terminal surface seal groove, seal up mounting flange 2 and wrist casing 1's binding face through first sealing washer 14, and second sealing washer 15 seals mounting flange 2 and first harmonic speed reducer 8's binding face.

Specifically, the wrist structure of the industrial robot further comprises a positioning pin 16, pin holes are formed in the wrist shell 1 and the fixing flange 2, and the positioning pin 16 is installed in the pin holes and used for assembling and positioning the parts, so that the position accuracy and the stability in the using process are guaranteed.

Referring to fig. 7, a deep groove ball bearing 17 and an oil seal 18 are sequentially installed in two step holes at one side of the wrist housing 1, and the outer wall of the small end of the support sleeve 19 is installed in cooperation with the inner hole of the deep groove ball bearing 17. The surface of the sheet metal support 10 with the screw hole faces the support sleeve 19, and the cable and other parts can pass through the middle hole of the support sleeve 19 and then be fixed on the sheet metal support 10. The second harmonic reducer 20 is installed in a stepped hole on the opposite side of the wrist housing 1 and the support sleeve 19 (i.e., a stepped hole on the left side of the wrist housing in fig. 7), the synchronizing wheel 21 is installed on the input shaft of the second harmonic reducer 20, and the support sleeve 19 and the second harmonic reducer 20 are held on the same shaft center.

The specific assembling process of the wrist structure of the industrial robot is as follows:

referring to fig. 6, a servo motor 9 is mounted above a motor mounting plate 3 and locked by screws, a brake 4 and a servo motor 9 shaft are concentrically mounted below the motor mounting plate 3 and locked by screws, a spline shaft 6 is mounted on the servo motor 9 shaft, the spline shaft 6 is fixed by an assembling tool and locked by a second screw 7, and a sheet metal bracket 10 is mounted above a fixing flange 2 by clinging to the servo motor 9 and locked by a third screw 11.

After the above components are assembled, whether the servo motor 9 operates normally needs to be detected, and then the next step is carried out.

The assembled parts are arranged on the upper end face of the fixed flange 2, the first sealing ring 14 is arranged in the sealing groove on the upper end face of the fixed flange 2, and the second sealing ring 15 is arranged in the sealing groove on the lower end face of the fixed flange 2.

Referring to fig. 6 and 7, the tail of the assembled part servo motor 9 is installed into the wrist housing 1 upward, the upper end surface of the fixing flange 2 is attached to the lower end surface of the wrist housing 1, and the positioning pin 16 is pressed in and locked by the fourth screw 12. During assembly of this step care is taken that the wrist housing 1 and the pin holes of the fixing flange 2 remain in positional registration.

Referring to fig. 7, a second harmonic reducer 20 is mounted on the left side of the wrist housing 1 and locked by a sixth screw 22, and a synchronizing wheel 21 is mounted on the input shaft of the second harmonic reducer 20. A deep groove ball bearing 17 and an oil seal 18 are respectively arranged in an inner hole on the right side of the wrist shell 1 by using a press mounting tool, then a step at the small end of a support sleeve 19 is arranged in the inner hole of the deep groove ball bearing 17, the end surfaces of the steps are flush, and the lip of the oil seal acts on the outer wall of the other step of the support sleeve 19 for sealing.

In the above assembly process, after the fixing flange 2 and the wrist housing 1 are installed and placed, it is necessary to check whether the first seal ring 14 and the second seal ring 15 are in the seal grooves, so as to ensure that the sealing performance at the positions is not affected. It is also necessary to check whether the support sleeve is rotated smoothly.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a mounting flange, its characterized in that, mounting flange center department is provided with first through-hole, the mounting flange up end be provided with the installation department of first through-hole with the axle center, be provided with walking line portion, first mounting structure, second mounting structure on the installation department, first mounting structure, second mounting structure all with first through-hole is with the axle center.

2. The mounting flange according to claim 1, wherein the mounting portion is a first arc-shaped boss symmetrically disposed on two sides of the first through hole, the routing portion is a U-shaped slot, the first mounting structure is a step seam allowance disposed on an inner side wall of the first arc-shaped boss, and the second mounting structure is a plurality of threaded holes disposed on an end face of the first arc-shaped boss.