A coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot

Abstract

The invention proposes a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot, comprising: a main housing, a main bottom cover, a driving worm assembly, multiple groups of reversing worm gear assemblies, multiple groups of speed reduction self-locking worm gear assemblies, an output worm gear assembly and elastic retaining rings for holes, wherein the main bottom cover is fastened to the main housing by screws; the driving worm assembly comprises: a driving worm, a positioning bearing, and an elastic retaining ring A for a first shaft; the driving worm assembly is positioned and meshed with each group of reversing worm gear assemblies through a positioning bearing; each group of reversing worm gear assemblies comprises: two elastic retaining rings B for the first shaft, two cylindrical spur gears, a reversing worm gear and a fixed shaft; each group of speed reduction self-locking worm assembly comprises: two elastic retaining rings B for the second shaft, two cylindrical spur gears, a speed reduction self-locking worm and a fixed shaft; the output worm gear assembly comprises: an elastic retaining ring A for the second shaft, a positioning bearing, an output worm gear and a C-type connecting flat key; the output worm gear assembly meshes with each group of speed reduction self-locking worm assembly.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to a coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot. Background Art

[0002] Industrial robots need to adjust their angles and postures before electrical commissioning such as assembly, motion interference testing, and painting. Currently, servo test fixtures are mainly used to unlock the brakes and control the motors for posture adjustment. The servo test fixtures mainly include robot control cabinets, servo motors, control terminals (laptops), host computer interfaces, etc. Operators also need to undergo strong professional training. The entire test fixture system is relatively complex and requires power and protection. In the painting environment, it is not easy to protect the servo motors exposed on the robot body, resulting in inadequate spraying and motor damage.

[0003] The transmission locking devices in the prior art mainly include ratchet structure, worm gear reducer, spiral grinding structure, electromagnetic power-off brake, etc. These braking methods can play a locking role, but have the following defects:

[0004] The ratchet structure is difficult to unlock when the force is large, and bidirectional locking control is impossible; ordinary worm gear reducers cannot achieve coaxial adjustment control, and the structural space is relatively large and the stability is poor; the spiral grinding plate structure cannot be completely locked, and the grinding plate is a consumable item and needs to be replaced regularly; the electromagnetic power-off brake is unstable. When the power is off and the brake is locked, the shaft system can still rotate under external force, and additional power supply is required to unlock it. Summary of the invention

[0005] The object of the present invention is to solve at least one of the technical drawbacks.

[0006] To this end, the purpose of the present invention is to provide a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot.

[0007] In order to achieve the above-mentioned object, the embodiment of the present invention provides a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot, comprising: a main housing, a main bottom cover, a driving worm assembly, multiple groups of reversing worm gear assemblies, multiple groups of speed reduction self-locking worm gear assemblies, an output worm gear assembly and a hole elastic retaining ring, wherein the main bottom cover is fastened to the main housing by screws;

[0008] The driving worm assembly comprises: a driving worm, a positioning bearing, and an elastic retaining ring A for the first shaft; the driving worm assembly is positioned through the positioning bearing to mesh with each set of the reversing worm wheel assembly;

[0009] Each group of the reversing worm gear assembly comprises: two first shaft elastic retaining rings B, two cylindrical spur gears, a reversing worm gear and a fixed shaft; each group of the reversing worm gear assembly is assembled in the main housing through size matching and the first shaft elastic retaining rings B are evenly distributed;

[0010] Each group of the reduction self-locking worm assembly comprises: two elastic retaining rings B for the second shaft, two cylindrical spur gears, a reduction self-locking worm and a fixed shaft; each group of the reduction self-locking worm assembly is evenly assembled in the main housing through size matching and the elastic retaining rings B for the second shaft;

[0011] The output worm gear assembly comprises: an elastic retaining ring A for the second shaft, a locating bearing, an output worm gear and a C-type connecting flat key; the output worm gear assembly is meshed with each group of the speed reduction self-locking worm assembly.

[0012] Furthermore, the coaxial transmission self-locking device for angle posture adjustment of the industrial robot is manually or electrically driven by driving the worm assembly, and the reduction self-locking worm assembly is driven to rotate by the reversing worm gear assembly, thereby driving the output worm gear assembly to output, realizing coaxial transmission of the driving force, and realizing angle posture adjustment and position self-locking.

[0013] Furthermore, the reversing worm gear assembly and the speed reduction self-locking worm assembly are externally meshed through respective cylindrical spur gears.

[0014] Further, the driving worm assembly is fixed to the main housing by a circlip through a hole.

[0015] Furthermore, the output worm gear assembly is fixed to the main housing by a circlip through a hole.

[0016] Furthermore, the number of the reversing worm gear assembly and the speed reduction self-locking worm assembly is 3 sets respectively.

[0017] Furthermore, the locating bearing of the driving worm assembly is coaxially assembled with the driving worm and is axially fixed by an elastic retaining ring A on the first shaft.

[0018] Furthermore, the locating bearing of the output worm gear assembly is coaxially assembled with the output worm gear, and is axially fixed by an elastic retaining ring A on the second shaft, and the C-shaped connecting flat key is interference fit with the keyway of the output worm gear.

[0019] Furthermore, the two cylindrical spur gears of the reversing worm gear assembly are respectively placed at two ends of the reversing worm gear, and position correction is performed through the matching surface.

[0020] Furthermore, the two cylindrical spur gears of the reduction self-locking worm assembly are respectively placed at the two ends of the reduction self-locking worm, and the position correction is performed through the matching surface.

[0021] The coaxial transmission self-locking device for angle and posture adjustment of an industrial robot according to an embodiment of the present invention has a compact structure, can realize coaxial conversion of input and output forces, has certain deceleration characteristics, and the planetary structure makes the transmission smoother and stronger. The operation is simple and can be operated either manually or by electric drive. The reverse self-locking of the worm gear one-way transmission can be used to adjust the posture at any angle and lock the position during robot assembly, motion interference testing, painting, and the like.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 A schematic diagram of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of an industrial robot replacement motor for a coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the internal structure arrangement of a coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to an embodiment of the present invention;

[0027] Figure 4 An exploded schematic diagram of the structural composition of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0028] Figure 5 It is a structural schematic diagram of a driving worm assembly of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0029] Figure 6 It is a structural schematic diagram of a reversing worm gear assembly of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0030] Figure 7 It is a structural schematic diagram of a reduction self-locking worm assembly of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0031] Figure 8 It is a structural schematic diagram of an output worm gear assembly of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0032] Fig. 9 It is a structural schematic diagram of a reversing worm gear assembly, a speed reduction self-locking worm assembly and a main housing of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0033] Fig.10 It is a structural schematic diagram of a driving worm assembly and a main housing of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0034] Fig.11 It is a structural schematic diagram of an output worm gear assembly, a main bottom cover and a main housing of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0035] Fig.12 Schematic diagram of the driving state of the coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention;

[0036] Fig.13 Schematic diagram of the self-locking state of a coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention.

[0037] Reference numerals:

[0038] 1-coaxial transmission self-locking device, 2-main housing, 3-main bottom cover, 4-driving worm assembly, 5-elastic retaining ring for hole, 6-reversing worm gear assembly, 7-reduction self-locking worm assembly, 8-output worm gear assembly, 9-driving worm, 10-positioning bearing, 11-elastic retaining ring A for shaft, 12-elastic retaining ring B for shaft, 13-cylindrical spur gear, 14-reversing worm gear, 15-fixed shaft, 16-reduction self-locking worm, 17-output worm gear, 18-C-type connecting flat key, 19-assembly of reversing worm gear assembly, reduction self-locking worm assembly and main housing, 20-assembly of output worm gear assembly, main bottom cover and main housing. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0040] The embodiment of the present invention provides a coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot, and relates to the fields of an industrial robot with an external servo motor, a reducer, coaxial input and output, transmission, and friction self-locking.

[0041] like Figure 1As shown, the coaxial transmission self-locking device for adjusting the angle posture of an industrial robot according to an embodiment of the present invention comprises: a main housing, a main bottom cover, a driving worm assembly, multiple groups of reversing worm gear assemblies, multiple groups of speed reduction self-locking worm assemblies, an output worm gear assembly, a hole elastic retaining ring, etc. The coaxial transmission self-locking device is manually or electrically driven by the driving worm assembly, and the speed reduction self-locking worm assembly is driven to rotate by the reversing worm gear assembly, thereby driving the output worm gear assembly to output, which can realize the coaxial transmission of the driving force, effectively realize the angle posture adjustment and position self-locking, and utilize the 3-planetary architecture layout, with a compact structure and high strength.

[0042] Figure 1 , Figure 2 A schematic diagram of a coaxial transmission self-locking device 1 for adjusting the angle and posture of an industrial robot provided by the present invention and a schematic diagram of the position of a replacement motor are shown.

[0043] Figure 3 , Figure 4 The internal structure arrangement and explosion diagram of the coaxial transmission self-locking device 1 for adjusting the angle posture of an industrial robot provided by the present invention are shown.

[0044] Specifically, the coaxial transmission self-locking device 1 for adjusting the angle and posture of an industrial robot of the present invention comprises a main housing 2, a main bottom cover 3, a driving worm assembly 4, a hole elastic ring 5, multiple groups of reversing worm gear assemblies 6, multiple groups of speed reduction self-locking worm gear assemblies 7, an output worm gear assembly 8, a driving worm 9, a positioning bearing 10, a first and a second shaft elastic ring A11, a first and a second shaft elastic ring B12, a cylindrical spur gear 13, a reversing worm gear 14, a fixed shaft 15, a speed reduction self-locking worm 16, an output worm gear 17, and a C-type connecting flat key 18. Among them, the main bottom cover 3 is fastened to the main housing 2 by screws.

[0045] Preferably, the number of the reversing worm gear assembly 6 and the speed reducing self-locking worm gear assembly 7 is 3. It should be noted that the number of the reversing worm gear assembly 6 and the speed reducing self-locking worm gear assembly 7 is not limited to the above examples, and can be selectively set according to needs.

[0046] Figure 5 The schematic diagram of the structure of the driving worm assembly 4 provided by the present invention is shown, and the driving worm assembly 4 includes a driving worm 9, a locating bearing 10, and a first shaft elastic retaining ring A11. The locating bearing 10 is coaxially assembled with the driving worm 9 and axially fixed by the shaft elastic retaining ring A11. The driving worm assembly is positioned by the locating bearing 10 to mesh with each set of reversing worm gear assemblies 6.

[0047] Figure 6The schematic diagram of the structure of the reversing worm gear assembly 6 provided by the present invention is shown, and the reversing worm gear assembly 6 includes two first shaft elastic retaining rings B12, two cylindrical spur gears 13, a reversing worm gear 14, and a fixed shaft 15. The two cylindrical spur gears 13 are respectively placed at both ends of the reversing worm gear 14, and the position is corrected through the matching surface. Each set of reversing worm gear assemblies 6 is evenly assembled in the main housing 2 through size matching and the first shaft elastic retaining rings B12.

[0048] Figure 7 The schematic diagram of the structure of the reduction self-locking worm assembly 7 provided by the present invention is shown. The reduction self-locking worm assembly 7 includes: two elastic retaining rings B12 for the second shaft, two cylindrical spur gears 13, a reduction self-locking worm 16, and a fixed shaft 15. The two cylindrical spur gears 13 are respectively placed at both ends of the reduction self-locking worm 16, and the position is corrected through the matching surface. Each group of reduction self-locking worm assemblies 7 is evenly assembled in the main housing 2 through size matching and the elastic retaining rings B12 for the second shaft.

[0049] Figure 8 The schematic diagram of the structure of the output worm gear assembly 8 provided by the present invention is shown, and the output worm gear assembly 8 includes: a second shaft elastic retaining ring A11, a positioning bearing 10, an output worm gear 17, and a C-type connecting flat key 18. The positioning bearing 10 is coaxially assembled with the output worm gear 17, and is axially fixed by the shaft elastic retaining ring A11, and the C-type connecting flat key 18 is interference fit with the keyway of the output worm gear 17. The output worm gear assembly 8 is meshed with each group of reduction self-locking worm assembly 7.

[0050] Fig. 9 The schematic diagram of the structure of the assembly 19 of the reversing worm gear assembly, the speed reduction self-locking worm assembly and the main housing provided by the present invention is shown, which includes a main housing 2, three reversing worm gear assemblies 6, and three speed reduction self-locking worm assemblies 7. The three reversing worm gear assemblies 6 are fixedly constrained to the main housing 2 by means of an elastic retaining ring B12 for the shaft; the three speed reduction self-locking worm assemblies 7 are fixedly constrained to the main housing 2 by means of an elastic retaining ring B12 for the shaft. The reversing worm gear assembly 6 and the speed reduction self-locking worm assembly 7 are externally meshed through their respective cylindrical spur gears. The reversing worm gear assembly 6 and the speed reduction self-locking worm assembly 7 are meshed and driven through the cylindrical spur gears 13 at both ends, and the meshing surfaces are coated with grease or engine oil to ensure smoothness and no jamming during the reversing transmission process.

[0051] Fig.10 The schematic diagram of the structure of the assembly 20 of the output worm gear assembly, the main bottom cover and the main housing provided by the present invention is shown, which includes a driving worm assembly 4, a hole elastic retaining ring 5, and an assembly 19. The driving worm assembly 4 is meshed with the three sets of reversing worm gear assemblies of the assembly 19, and is axially fixed to the main housing through the hole elastic retaining ring. Grease or engine oil is applied to the meshing surface to ensure smoothness and no jamming during the reversing transmission process.

[0052] Fig.11 The coaxial transmission self-locking device 1 provided by the present invention is shown, comprising a main bottom cover 3, a hole elastic circlip 5, an output worm gear assembly 8, and an assembly 20. The output worm gear assembly is meshed with three sets of self-locking worm assemblies of the assembly 20 and fixed to the main housing through the hole elastic circlip. Grease or engine oil is applied to the meshing surface to ensure smoothness and no jamming during the reversing transmission process.

[0053] Fig.12 The schematic diagram of the driving state of the coaxial transmission self-locking device 1 for adjusting the angle and posture of an industrial robot provided by the present invention is shown. The worm assembly 4 is driven clockwise (or counterclockwise) by manual or electric driving, driving the three reversing worm gear assemblies 6 to mesh and rotate simultaneously. The reversing worm gear assembly 6 meshes with the cylindrical spur gears 13 at both ends to drive the three reduction self-locking worm assemblies 7 to rotate, and the three reduction self-locking worm assemblies 7 simultaneously drive the output worm gear assembly 8 to rotate. Thus, the coaxial transmission of torque and speed is realized.

[0054] Fig.13 The schematic diagram of the self-locking state of the coaxial transmission self-locking device 1 for adjusting the angle and posture of an industrial robot provided by the present invention is shown. The output worm gear assembly 8 is driven (clockwise or counterclockwise). Since the deceleration self-locking worm assembly 7 and the output worm gear assembly 8 are driven by a worm gear, self-locking in this direction occurs, and the torque cannot be transmitted back.

[0055] The coaxial transmission self-locking device for angle and posture adjustment of an industrial robot according to an embodiment of the present invention has a compact structure, can realize coaxial conversion of input and output forces, has certain deceleration characteristics, and the planetary structure makes the transmission smoother and stronger. The operation is simple and can be operated either manually or by electric drive. The reverse self-locking of the worm gear one-way transmission can be used to adjust the posture at any angle and lock the position during robot assembly, motion interference testing, painting, and the like.

[0056] The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to an embodiment of the present invention has the following characteristics:

[0057] (1) Angle posture adjustment and position locking during the assembly process of industrial robots;

[0058] (2) The self-locking characteristics of the worm gear drive are used to achieve locking, which does not require power supply, will not cause voltage fluctuations, and reduce power consumption;

[0059] (3) All components provided adopt a universal modular design. Each independent component can be quickly replaced, which is convenient for later maintenance. According to the specific circumstances of the failure, each component can be replaced in a targeted manner, which is easy to maintain;

[0060] (4) The coaxial transmission self-locking device provided adopts manual and electric braking modes, which has stronger operational adaptability;

[0061] (5) Motion interference test, which can manually or electrically test whether there is motion interference in each joint;

[0062] (6) Replace the motor when painting to prevent damage to the servo motor;

[0063] (7) The coaxial transmission structure is compact, and the self-locking function ensures the safety of personnel and equipment;

[0064] (8) Planetary distributed configuration increases the strength and reliability of the self-locking device;

[0065] (9) The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot provided is suitable for many fields such as industrial robots, collaborative robots, optical turntables, radar turntables, weapon station turntables, and pan / tilt platforms.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0067] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot, characterized in that: include: A main housing, a main bottom cover, a driving worm assembly, multiple groups of reversing worm gear assemblies, multiple groups of speed reduction self-locking worm gear assemblies, an output worm gear assembly and a hole elastic retaining ring, wherein the main bottom cover is fastened to the main housing by screws; The driving worm assembly comprises: a driving worm, a positioning bearing, and an elastic retaining ring A for the first shaft; the driving worm assembly is positioned through the positioning bearing to mesh with each set of the reversing worm wheel assembly; Each group of the reversing worm gear assembly comprises: two first shaft elastic retaining rings B, two cylindrical spur gears, a reversing worm gear and a fixed shaft; each group of the reversing worm gear assembly is assembled in the main housing through size matching and the first shaft elastic retaining rings B are evenly distributed; Each group of the reduction self-locking worm assembly comprises: two elastic retaining rings B for the second shaft, two cylindrical spur gears, a reduction self-locking worm and a fixed shaft; each group of the reduction self-locking worm assembly is evenly assembled in the main housing through size matching and the elastic retaining rings B for the second shaft; the two cylindrical spur gears of the reduction self-locking worm assembly are respectively placed at both ends of the reduction self-locking worm, and the position is corrected through the matching surface; The reversing worm gear assembly and the speed reduction self-locking worm gear assembly are externally meshed through their respective cylindrical spur gears; the two cylindrical spur gears of the reversing worm gear assembly are respectively placed at both ends of the reversing worm gear, and the position is corrected through the matching surface; The output worm gear assembly comprises: an elastic retaining ring A for the second shaft, a locating bearing, an output worm gear and a C-type connecting flat key; the output worm gear assembly is meshed with each group of the speed reduction self-locking worm assembly.

2. The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to claim 1, characterized in that: The coaxial transmission self-locking device for adjusting the angle and posture of the industrial robot is manually or electrically driven by driving the worm assembly, and the deceleration self-locking worm assembly is driven to rotate by the reversing worm gear assembly, thereby driving the output worm gear assembly to output, realizing coaxial transmission of the driving force, and realizing angle and posture adjustment and position self-locking.

3. The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to claim 1, characterized in that: The drive worm assembly is secured to the main housing by a circlip through a hole.

4. The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to claim 1, characterized in that: The output worm gear assembly is fixed to the main housing by a circlip through a hole.

5. The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to claim 1, characterized in that: The number of the reversing worm gear assembly and the speed reduction self-locking worm assembly is 3 sets respectively.

6. The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to claim 1, characterized in that: The locating bearing of the driving worm assembly is coaxially assembled with the driving worm and is axially fixed by a circlip A through the first shaft.

7. The coaxial transmission self-locking device for adjusting the angle and posture of an industrial robot according to claim 1, characterized in that: The locating bearing of the output worm gear assembly is coaxially assembled with the output worm gear and is axially fixed by an elastic retaining ring A on the second shaft. The C-shaped connecting flat key is interference-fitted with the keyway of the output worm gear.

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