Output shaft for industrial robot

Abstract

The utility model relates to the technical field of output shafts, in particular to an output shaft for an industrial robot. Comprising a composite layered sleeve, floating shaft bodies and a turning connecting assembly, the sleeve is of a three-layer composite structure including a metal pipe, a middle layer and a protective layer and has strength and impact resistance, a pair of shaft bodies are inserted into the two ends of the sleeve, circumferential fixing and axial floating are achieved through a limiting structure, transmission errors are reduced, and the outer ends of the shaft bodies are connected with the turning connecting assembly. The power transmission direction can be adjusted, a power source and a driven part can be in butt joint, through a composite structure, floating connection and turning transmission, the transmission stability and precision are remarkably improved, the maintenance difficulty is reduced, and the device is suitable for high-precision industrial robot scenes.

Description

TECHNICAL FIELD

[0001] The utility model relates to output shaft technical field, especially relates to an output shaft for industrial robot. BACKGROUND

[0002] Industrial robot as the core equipment of modern intelligent manufacturing, its performance directly influences production efficiency and product quality, and the output shaft as the core part of industrial robot power transmission is responsible for accurately transmitting the energy of power source to driven part, plays an indispensable role in the joint movement of robot, arm extension and other operations.

[0003] However, the traditional output shaft structure is difficult to adapt to complex spatial layout when power transmission, when the robot is in fast start and stop or bears larger impact load, the output shaft is prone to fatigue fracture due to stress concentration, which affects the normal operation of the robot, and the non-variable shaft body also limits the complex action of the industrial robot, which is difficult to meet the daily production needs, therefore, an output shaft for industrial robot is needed to solve the above problems. SUMMARY

[0004] In order to overcome the defects of the prior art, the utility model provides an output shaft for industrial robot, which solves the technical problems that the output shaft of industrial robot is difficult to adapt to complex spatial layout when power transmission, is easily affected by axial size change and has poor stability.

[0005] In order to achieve the above purpose, the utility model is realized through the following technical scheme:

[0006] An output shaft for industrial robot comprises:

[0007] The sleeve pipe adopts a composite layered structure and comprises, from inside to outside, a metal pipe, a middle layer and a protective layer.

[0008] A pair of shaft bodies are respectively inserted and installed at both ends of the sleeve pipe and are arranged in floating along the axial direction of the sleeve pipe, a limiting structure is arranged at the connection between the sleeve pipe and the shaft body, the limiting structure is used for realizing the circumferential limiting of the shaft body relative to the sleeve pipe and simultaneously allowing the axial movement of the shaft body relative to the sleeve pipe.

[0009] A pair of variable direction connecting assemblies are respectively arranged at one end of the shaft body away from the sleeve pipe, and the pair of variable direction connecting assemblies are respectively connected with a power source and a driven part, and the variable direction connecting assembly is used for changing the position of the transmission axis direction of the pair of shaft bodies.

[0010] Based on the above structure, the principle of the output shaft for industrial robot is:

[0011] The two ends of the output shaft are connected with the power source and the driven part respectively, and in the process of transmitting power, the power source generates power, and the power is transmitted to the shaft body through the variable direction connecting assembly, the variable direction connecting assembly is used for changing the power transmission direction, so that the power can be transmitted to the shaft body at a suitable angle and direction to adapt to the complex space layout inside the industrial robot and different power input requirements; after receiving the power from the variable direction connecting assembly, the shaft body can ensure that the power does not deviate or slip in the circumferential direction during transmission because the shaft body is circumferentially limited by the limiting structure with the sleeve; and the sleeve provides stable support for the shaft body to bear the radial force and part of the axial force generated when the shaft body transmits power, so as to ensure that the shaft body can transmit power at the correct position and ensure the accuracy and stability of power transmission; meanwhile, the shaft body is axially floatingly arranged along the sleeve, which can compensate for the axial size change between the shaft body and the sleeve, avoid additional stress, protect the components from damage, and ensure smooth power transmission.

[0012] Further, the output shaft for an industrial robot in the application comprises a polyurethane layer and a rubber sleeve, the polyurethane layer is coated on the outer side of the metal pipe, and the rubber sleeve is sleeved on the outer circumferential surface of the polyurethane layer. As a preferred scheme of the application, the rubber sleeve has good elasticity, and the polyurethane layer has certain buffering performance. When the shaft body transmits power and is impacted or vibrated, the two cooperate to absorb and buffer the external force, reduce the influence of vibration and impact on the entire output shaft, protect the internal components, thereby improving the stability and reliability of the output shaft and prolonging the service life of the output shaft, and also reducing the noise in the transmission process.

[0013] Further, the output shaft for an industrial robot in the application comprises a polyurethane layer and a rubber sleeve, the polyurethane layer is coated on the outer side of the metal pipe, and the rubber sleeve is sleeved on the outer circumferential surface of the polyurethane layer. As a preferred scheme of the application, the rubber sleeve has good elasticity, and the polyurethane layer has certain buffering performance. When the shaft body transmits power and is impacted or vibrated, the two cooperate to absorb and buffer the external force, reduce the influence of vibration and impact on the entire output shaft, protect the internal components, thereby improving the stability and reliability of the output shaft and prolonging the service life of the output shaft, and also reducing the noise in the transmission process.

[0014] Further, the output shaft for industrial robot in the application, the two end faces of the partition are provided with the first recesses matched with the elastic members, the end of the shaft body near the partition is provided with the second recess matched with the elastic member, and the first recess and the second recess are used for accommodating the two ends of the partition. As the preferred scheme of the application, the first recess and the second recess provide the mounting positions for the elastic members, ensure that the elastic members are accurately mounted at the predetermined positions, avoid the radial movement of the elastic members in the working process, make the elastic members only compress or stretch in the axial direction, and enhance the stability.

[0015] Further, the output shaft for industrial robot in the application, the outer peripheral wall of the shaft body is provided with at least one convex part, the sleeve is provided with a defect part matched with the convex part, and the convex part and the defect part are matched and used for limiting the circumferential rotation of the shaft body relative to the sleeve. As the preferred scheme of the application, the output shaft for industrial robot in the application, in the transmission process, the convex part is embedded in the defect part, the circumferential rotation of the shaft body in the sleeve is prevented, and it is ensured that the shaft body can accurately transmit power.

[0016] Further, the output shaft for industrial robot in the application, the two ends of the metal pipe are respectively provided with extension parts, the extension parts are arranged in the radial direction and inwardly extend, and the outer side wall of the end of the shaft body near the sleeve is provided with a limiting convex part matched with the extension part, and the limiting convex part and the extension part are matched and used for limiting the stroke when the shaft body moves away from the sleeve. As the preferred scheme of the application, the output shaft for industrial robot in the application, the extension part and the limiting convex part are matched, when the shaft body moves away from the sleeve, the limiting convex part will be in contact with the extension part in the axial direction of the shaft body, the shaft body is limited to continue to move outward, the shaft body is prevented from being separated from the sleeve, the integrity and stability of the output shaft are ensured.

[0017] Further, the output shaft for industrial robot in the application, the variable direction connecting assembly comprises: a first fork head, both ends of the fork head end of the first fork head are provided with first shaft holes; a second fork head, both ends of the fork head end of the second fork head are provided with second shaft holes, and the second fork head is arranged orthogonally with the first fork head; a cross shaft component, the cross shaft component comprises: a first rotating shaft and a second rotating shaft which are perpendicular to each other, and both ends of the first rotating shaft and the second rotating shaft are rotatably connected to the corresponding first shaft hole and the second shaft hole. As a preferred scheme of the application, the output shaft for industrial robot in the application, the variable direction connecting assembly is used to change the transmission direction of the power, when the power is input from the first fork head, the first fork head is rotated, because the first rotating shaft of the cross shaft component is hinged in the first shaft hole at both ends of the fork head end of the first fork head, the rotation of the first fork head drives the rotation of the first rotating shaft; then, because the first rotating shaft and the second rotating shaft of the cross shaft component are perpendicular to each other, the rotation of the first rotating shaft drives the rotation of the second rotating shaft through the cross shaft component; then, because both ends of the second rotating shaft are rotatably connected to the second shaft hole at both ends of the fork head end of the second fork head, the rotation of the second rotating shaft further drives the rotation of the second fork head, and the power is transmitted to the shaft body, so that the power is transmitted from one direction to another direction, and the transmission direction of the power is changed.

[0018] Further, the output shaft for industrial robot in the application, the first shaft hole and the second shaft hole are provided with bearings, the bearings are installed in the opposite first shaft hole and the second shaft hole, and the bearings are sleeved on the opposite first rotating shaft and the second rotating shaft. As a preferred scheme of the application, the output shaft for industrial robot in the application, the bearings are used to reduce the friction between the shaft and the hole, reduce the wear, improve the service life of each component, and improve the efficiency of power transmission and reduce energy loss.

[0019] Further, the output shaft for industrial robot in the application, the variable direction connecting assembly and the shaft body are provided with a pair of flanges, and the pair of flanges are arranged on the variable direction connecting assembly and the shaft body respectively. As a preferred scheme of the application, the output shaft for industrial robot in the application, the pair of flanges are used for the connection between the variable direction connecting assembly and the shaft body, and the flange connection makes the installation and disassembly process of the variable direction connecting assembly and the shaft body more convenient, reduces the difficulty of installation and maintenance, and improves the work efficiency.

[0020] Further, the output shaft for industrial robot in the application, the pair of flanges are respectively provided with positioning concaves and positioning convexes, and the positioning concaves are used for accommodating the positioning convexes. As a preferred scheme of the application, the output shaft for industrial robot in the application, when the variable direction connecting assembly and the shaft body are connected, the installer only needs to align the flange with the positioning convex with the flange with the positioning concave, so that the positioning convex falls into the positioning concave, and the preliminary positioning can be quickly completed, and the installation efficiency is improved.

[0021] The technical scheme has the following beneficial effects:

[0022] The utility model discloses a kind of output shafts for industrial robot, by adopting the sleeve of composite layered structure, the shaft body that can be axially floating and circumferentially limited, the direction-changing connecting assembly that can change power transmission direction and a variety of buffering, limiting and convenient design for installation, improve the accuracy, stability and reliability of power transmission, prolong the service life of output shaft, reduce installation and maintenance difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a three-dimensional structure schematic view of the output shaft for industrial robot in the embodiment of the present application;

[0024] Figure 2 It is a sectional view of the output shaft for industrial robot in the embodiment of the present application;

[0025] Figure 3 It is Figure 2 Local enlarged view of area A of middle circle;

[0026] Figure 4 It is the explosion view of direction-changing connecting assembly in the output shaft for industrial robot in the embodiment of the present application.

[0027] In the figure: 1-sleeve;11-metal pipe;111-extension;12-intermediate layer;121-polyurethane layer;122-rubber sleeve;13-protection layer;2-shaft body;20-second groove;21-limiting convex part;3-direction-changing connecting assembly;31-first prong;310-first shaft hole;32-second prong;320-second shaft hole;33-cross shaft part;331-first rotating shaft;332-second rotating shaft;4-bearing;5-baffle;50-first groove;6-elastic member;7-flange;70-positioning concave;71-positioning convex. DETAILED DESCRIPTION

[0028] As Figure 1 , 2 , 3 shows, a kind of output shaft for industrial robot, comprising:

[0029] Sleeve 1, the sleeve 1 adopts composite layered structure, from inside to outside including successively: metal pipe 11, intermediate layer 12, protection layer 13;

[0030] A pair of shaft body 2, a pair of the shaft body 2 is respectively inserted and installed at the both ends of sleeve 1, and is set along the axial floating of sleeve 1, the connecting place of sleeve 1 and shaft body 2 is equipped with limiting structure, the limiting structure is used to realize the circumferential limitation of shaft body 2 relative to sleeve 1, while allowing shaft body 2 to move axially relative to sleeve 1;

[0031] A pair of variable direction connecting components 3, a pair of said variable direction connecting components 3 are respectively arranged at one end of the shaft body 2 away from the sleeve 1, a pair of said variable direction connecting components 3 are respectively connected with the power source and the driven part, and the variable direction connecting component 3 is used to change the position of the transmission axis direction of the pair of shaft bodies 2.

[0032] Based on the above structure, the principle of the output shaft for an industrial robot is:

[0033] The two ends of the output shaft are respectively connected with the power source and the driven part, and in the process of transmitting power, the power source generates power, which is transmitted to the shaft body 2 through the variable direction connecting component 3. The variable direction connecting component 3 is used to change the power transmission direction, so that the power can be transmitted to the shaft body 2 at a suitable angle and direction to adapt to the complex spatial layout inside the industrial robot and different power input requirements. After receiving the power from the variable direction connecting component 3, the shaft body 2 can ensure that the power does not deviate or slip in the transmission process due to the circumferential limiting of the sleeve 1 through the limiting structure, and the sleeve 1 provides stable support for the shaft body 2 to bear the radial force and part of the axial force generated when the shaft body 2 transmits power, ensuring that the shaft body 2 can transmit power at the correct position, ensuring the accuracy and stability of power transmission. At the same time, the shaft body 2 is axially floating along the sleeve 1, which can compensate for the axial size change between the shaft body 2 and the sleeve 1, avoid additional stress, protect the components from damage, and ensure smooth power transmission.

[0034] In the embodiment, the middle layer 12 includes a polyurethane layer 121 and a rubber sleeve 122, the polyurethane layer 121 is coated on the outer side of the metal pipe 11, and the rubber sleeve 122 is sleeved on the outer circumferential surface of the polyurethane layer 121. The rubber sleeve 122 has good elasticity, and the polyurethane layer 121 has certain buffering performance. During the transmission of power by the shaft body 2, when impacted or vibrated, the two work together to absorb and buffer these external forces, reduce the impact of vibration and impact on the entire output shaft, protect the internal components, and thus improve the stability and reliability of the output shaft, prolong its service life, and also reduce the noise during transmission.

[0035] In the embodiment, the metal pipe 11 is centrally provided with a partition plate 5 extending along the radial direction of the sleeve 1 to the inner side wall of the metal pipe 11, and the two sides of the partition plate 5 are respectively provided with elastic members 6, and the end of the elastic member 6 away from the partition plate 5 is in contact with the corresponding shaft body 2. When the axial dimension between the shaft body 2 and the sleeve 1 changes, the shaft body 2 can move axially relative to the sleeve 1, and the shaft body 2 can press or stretch the elastic member 6. When the shaft body 2 moves towards the partition plate 5, the elastic member 6 is compressed; when the shaft body 2 moves away from the partition plate 5, the elastic member 6 is stretched. The elastic member 6 can absorb and buffer the force generated when the shaft body 2 moves axially, balance the axial force, offset part of the axial force through its deformation, so that the shaft body 2 is in a stable state, thereby improving the working performance and reliability of the output shaft. The elastic member 6 is a spring.

[0036] In the embodiment, the two end faces of the partition plate 5 are respectively provided with first grooves 50 corresponding to the elastic members 6, and the end of the shaft body 2 close to the partition plate 5 is provided with a second groove 20 corresponding to the elastic member 6, and the first groove 50 and the second groove 20 are used to accommodate the two ends of the partition plate 5. The first groove 50 and the second groove 20 provide a mounting position for the elastic member 6, ensuring that the elastic member 6 is accurately installed at the predetermined position, avoiding radial movement of the elastic member 6 during operation, so that it can only be compressed or stretched in the axial direction, thereby enhancing stability.

[0037] In the embodiment, the outer peripheral wall of the shaft body 2 is provided with at least one protrusion, and the sleeve 1 is provided with a corresponding missing part, and the protrusion and the missing part cooperate to limit the circumferential rotation of the shaft body 2 relative to the sleeve 1. During transmission, the protrusion is embedded in the missing part to prevent the shaft body 2 from rotating circumferentially in the sleeve 1, ensuring that the shaft body 2 can accurately transmit power. The cross-sectional shape of the shaft body 2 is a regular octagon, and correspondingly, the sleeve 1 is provided with a regular octagonal mounting hole corresponding to the cross-sectional shape of the shaft body 2.

[0038] In the embodiment, the metal pipe 11 is respectively provided with an extension part 111 at both ends, the extension part 111 is arranged to extend radially inward along the metal pipe 11, and the outer side wall of the end of the shaft body 2 close to the sleeve 1 is provided with a limiting protrusion 21 corresponding to the extension part 111, and the limiting protrusion 21 and the extension part 111 cooperate to limit the stroke of the shaft body 2 moving away from the sleeve 1. The extension part 111 and the limiting protrusion 21 cooperate with each other, and when the shaft body 2 moves away from the sleeve 1, the limiting protrusion 21 will be in contact with the extension part 111 in the axial direction of the shaft body 2, limiting the shaft body 2 from moving outward, preventing the shaft body 2 from being pulled out of the sleeve 1, and ensuring the integrity and stability of the output shaft.

[0039] In the embodiment, as Figure 4As shown, the direction-changing connecting assembly 3 comprises a first prong 31, both ends of the prong end of the first prong 31 are provided with a first shaft hole 310; a second prong 32, both ends of the prong end of the second prong 32 are provided with a second shaft hole 320, the second prong 32 is arranged orthogonally with the first prong 31; a cross shaft component 33, the cross shaft component 33 comprises a first rotation shaft 331 and a second rotation shaft 332 which are perpendicular to each other, both ends of the first rotation shaft 331 and the second rotation shaft 332 are respectively rotatably connected to the corresponding first shaft hole 310 and the second shaft hole 320. The direction-changing connecting assembly 3 is used to change the direction of power transmission. When power is input from the first prong 31, the first prong 31 rotates, because the first rotation shaft 331 of the cross shaft component 33 is hinged in the first shaft hole 310 at both ends of the prong end of the first prong 31, the rotation of the first prong 31 drives the rotation of the first rotation shaft 331; then, because the first rotation shaft 331 and the second rotation shaft 332 of the cross shaft component 33 are perpendicular to each other, the rotation of the first rotation shaft 331 drives the rotation of the second rotation shaft 332 through the cross shaft component 33; then, because both ends of the second rotation shaft 332 are rotatably connected to the second shaft hole 320 at both ends of the prong end of the second prong 32, the rotation of the second rotation shaft 332 further drives the rotation of the second prong 32, and the power is transmitted to the shaft body 2, thereby realizing the transmission of power from one direction to another direction, and changing the direction of power transmission.

[0040] In this embodiment, the first shaft hole 310 and the second shaft hole 320 are each provided with a bearing 4, the bearing 4 is installed in the opposite first shaft hole 310 and second shaft hole 320, and the bearing 4 is sleeved on the opposite first rotation shaft 331 and second rotation shaft 332. The bearing 4 is used to reduce the friction between the shaft and the hole, reduce wear, improve the service life of each component, and improve the efficiency of power transmission and reduce energy loss. The bearing 4 adopts a ball bearing.

[0041] In this embodiment, a pair of flanges 7 are arranged at the connection between the direction-changing connecting assembly 3 and the shaft body 2, and the pair of flanges 7 are respectively arranged on the direction-changing connecting assembly 3 and the shaft body 2. The pair of flanges 7 are used for the connection between the direction-changing connecting assembly 3 and the shaft body 2, and the flange 7 is connected in such a way that the installation and disassembly process of the direction-changing connecting assembly 3 and the shaft body 2 is more convenient, the difficulty of installation and maintenance is reduced, and the work efficiency is improved. The pair of flanges 7 are connected by bolts (not shown).

[0042] In this embodiment, the pair of flanges 7 are respectively provided with a positioning concave 70 and a positioning convex 71, and the positioning concave 70 is used to accommodate the positioning convex 71. When connecting the direction-changing connecting assembly 3 and the shaft body 2, the installer only needs to align the flange 7 with the positioning convex 71 with the flange 7 with the positioning concave 70, and make the positioning convex 71 fall into the positioning concave 70, so as to quickly complete the preliminary positioning and improve the installation efficiency.

[0043] The technical principles of the present application are described above in combination with specific embodiments, and these descriptions are only for explaining the principles of the present application, and cannot be interpreted as limiting the protection scope of the present application in any way. Based on the explanations herein, other specific embodiments of the present application can be conceived by those skilled in the art without creative labor, and these embodiments will all fall within the protection scope of the present application.

Claims

1. An output shaft for an industrial robot, characterized by: The utility model relates to a kind of sleeve (1), the sleeve (1) adopts composite layered structure, including successively from inside to outside: metal pipe (11), middle layer (12), protective layer (13); A pair of shaft bodies (2) are respectively inserted and installed at the two ends of the sleeve (1), and are arranged floatingly along the axial direction of the sleeve (1). Limiting structure is arranged at the connection between the sleeve (1) and the shaft body (2), which is used to limit the circumferential position of the shaft body (2) relative to the sleeve (1) and allow the shaft body (2) to move axially relative to the sleeve (1). A pair of direction-changing connecting assemblies (3) are respectively arranged at the ends of the shaft bodies (2) away from the sleeve (1). The direction-changing connecting assemblies (3) are connected to the power source and the driven part, respectively, and are used to change the position of the transmission axis direction of the pair of shaft bodies (2). The middle layer (12) includes a polyurethane layer (121) and a rubber sleeve (122). The polyurethane layer (121) is coated on the outer side of the metal pipe (11), and the rubber sleeve (122) is sleeved on the outer circumferential surface of the polyurethane layer (121).

2. An output shaft for an industrial robot according to claim 1, characterized in that: A baffle (5) is arranged in the center of the metal pipe (11). The baffle (5) extends along the radial direction of the sleeve (1) to the inner side wall of the metal pipe (11). Elastic members (6) are arranged on both sides of the baffle (5). One end of each elastic member (6) away from the baffle (5) is in contact with the corresponding shaft body (2).

3. An output shaft for an industrial robot according to claim 1, characterized in that: First grooves (50) corresponding to the elastic members (6) are arranged on both end surfaces of the baffle (5). Second grooves (20) corresponding to the elastic members (6) are arranged on one end of the shaft body (2) close to the baffle (5). The first grooves (50) and the second grooves (20) are used to accommodate both ends of the baffle (5).

4. An output shaft for an industrial robot according to claim 3, characterized in that: At least one protrusion is arranged on the outer circumferential wall of the shaft body (2). A corresponding missing part is arranged on the sleeve (1). The protrusion and the missing part cooperate to limit the circumferential rotation of the shaft body (2) relative to the sleeve (1).

5. An output shaft for an industrial robot according to claim 1, characterized in that: Extension parts (111) are arranged at both ends of the metal pipe (11). The extension parts (111) extend inward along the radial direction of the metal pipe (11). Limiting protrusions (21) corresponding to the extension parts (111) are arranged on the outer side wall of one end of the shaft body (2) close to the sleeve (1). The limiting protrusions (21) and the extension parts (111) cooperate to limit the stroke of the shaft body (2) away from the sleeve (1).

6. An output shaft for an industrial robot according to claim 1, characterized in that: The direction-changing connecting assembly (3) includes:

7. An output shaft for an industrial robot according to claim 1, characterized in that: A first fork head (31) has first shaft holes (310) arranged on both ends of the fork head end. A second fork head (32) has second shaft holes (320) arranged on both ends of the fork head end. The second fork head (32) is arranged orthogonally to the first fork head (31). ​ The cross shaft component (33) comprises: first and second rotation shafts (331, 332) perpendicular to each other, and both ends of the first and second rotation shafts (331, 332) are rotatably connected to corresponding first and second shaft holes (310, 320).

8. An output shaft for an industrial robot according to claim 7, characterized in that: The first and second shaft holes (310, 320) are each provided with a bearing (4), the bearing (4) is installed in the opposite first and second shaft holes (310, 320), and the bearing (4) is sleeved on the opposite first and second rotation shafts (331, 332).

9. An output shaft for an industrial robot according to claim 8, characterized in that: The connection between the variable-direction connecting assembly (3) and the shaft body (2) is provided with a pair of flange plates (7), and the pair of flange plates (7) are respectively arranged on the variable-direction connecting assembly (3) and the shaft body (2).

10. An output shaft for an industrial robot according to claim 9, characterized in that: The pair of flange plates (7) are respectively provided with positioning concaves (70) and positioning convexes (71), and the positioning concaves (70) are used for accommodating the positioning convexes (71).

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