High-load-capacity gear driving unit of industrial robot

Abstract

The utility model relates to the technical field of mechanical engineering, in particular to a high-load-capacity gear driving unit of an industrial robot. A cavity is filled with paraffin, the paraffin delays damping performance attenuation through the reaction of heat absorption and solidification of the paraffin, the cavity is filled with the paraffin, dynamic balance of heat absorption and solidification is achieved through the phase change characteristic of the paraffin, and the paraffin absorbs heat generated by friction between a driving wheel and a driven wheel under the high-load working condition and is subjected to phase change melting. The internal temperature rise is effectively delayed; when the temperature is reduced, the paraffin is solidified to maintain the rigidity of the internal structures of the driving wheel and the driven wheel, the negative influence of high temperature on the gear damping performance is reduced through the design, it is ensured that the damping material continuously inhibits resonance under high load, and therefore the service life of the gear driving unit is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical engineering technical field, concretely relates to a kind of industrial robot high load capacity gear drive unit. BACKGROUND

[0002] Industrial robot high load capacity gear drive unit refers to the realization power conversion and torque amplification by precision gear transmission system, the core power component specially designed for industrial robot joint or actuator, with the characteristics of bearing large load, output high torque.

[0003] Due to the vibration of gear and transmission shaft under high load is close to the inherent frequency of robot joint structure, resonance can be caused, leading to component fatigue damage, so the prior art uses high damping material, such as carburizing steel, cast iron and other materials to make gear to suppress resonance.

[0004] However, the gear of high damping material is continuously used under high load working condition, its friction temperature is easy to rise, high temperature is easy to make gear damping performance attenuate, which can reduce the effect of suppressing resonance, in view of this, we propose an industrial robot high load capacity gear drive unit. SUMMARY

[0005] The utility model provides a kind of industrial robot high load capacity gear drive unit, it is through the phase change of paraffin to delay damping attenuation and through the continuous cooling of bellow, ventilation pipe, fan, to solve the problems raised in the above background art, i.e.:

[0006] The gear of high damping material is continuously used under high load working condition, its friction temperature is easy to rise, high temperature is easy to make gear damping performance attenuate, which can reduce the effect of suppressing resonance.

[0007] To achieve the above object, industrial robot high load capacity gear drive unit includes driving wheel, the driving wheel side is engaged with driven wheel, the driven wheel is installed with organism outside driving wheel, the outer wall of the organism is installed with servo motor, and the output end of servo motor is fixedly connected with the transmission shaft of driving wheel, the inside of driving wheel and driven wheel is hollow, the inside of the cavity is filled with paraffin, the paraffin delays damping performance attenuation through heat absorption and solidification reaction of itself, cooling assembly is arranged below driving wheel and driven wheel, the cooling assembly includes bellow installed on the inner wall surface of organism, the inside of bellow is provided with two fans, the fan generates wind force, the top of bellow is inserted with a plurality of ventilation pipes, the ventilation pipe transports wind force to cool driving wheel and driven wheel.

[0008] In the above technical solution, the cavities in the driving wheel and the driven wheel are filled with paraffin wax, and the heat absorption and solidification phase change characteristics of the paraffin wax are utilized to actively control the temperature, in the high load working condition, the heat generated by the friction between the driving wheel and the driven wheel is absorbed by the paraffin wax and triggers the phase change from solid to liquid, delaying the internal temperature rise; when the temperature decreases, the paraffin wax changes from liquid to solid state and releases heat, maintaining the internal structure, thereby reducing the influence of high temperature on the performance of the gear damping material, and at the same time, the fan generates wind power, which is distributed to the multiple ventilation pipes through the air box and directly blows the driving wheel and the driven wheel to accelerate the heat dissipation of the two, the passive temperature control of the paraffin wax and the active heat dissipation of the cooling assembly work together to form a temperature regulation mechanism, ensuring that the gear continuously suppresses resonance under high load.

[0009] On this basis, the cavities of the driving wheel and the driven wheel are in a honeycomb structure, which is composed of a plurality of hexagonal holes, and the cavities of the honeycomb structure form a structure with high specific surface area through the regular arrangement of the hexagonal holes, which significantly increases the contact area of the phase change material paraffin wax and accelerates the heat transfer efficiency of the heat absorption to the solidification process; the outlet end of the ventilation pipe is located directly below the meshing position of the driving wheel and the driven wheel, and high-efficiency heat dissipation is realized through the shortest path and accurate orientation, the meshing position is the most intense friction and fastest temperature rise position of the driving wheel and the driven wheel, and the position directly below can make the wind power directly cover the meshing contact surface, quickly take away the heat generated by friction, avoid local temperature accumulation, and the wind power blows the meshing surface from bottom to top, which can form a uniform heat dissipation flow field, avoid the heat dissipation blind area caused by lateral or top blowing, and thus work together with the phase change temperature control characteristics of the paraffin wax to comprehensively suppress the damping performance attenuation, and ensure the stable operation and anti-resonance ability of the driving unit under high load.

[0010] Compared with the prior art, the utility model has the advantages of:

[0011] 1. By filling paraffin wax in the cavity, the dynamic balance of heat absorption and solidification is realized by utilizing the phase change characteristics, the paraffin wax absorbs the heat generated by the friction between the driving wheel and the driven wheel and changes phase under high load working condition, effectively delaying the internal temperature rise; when the temperature decreases, the paraffin wax solidifies to maintain the rigidity of the internal structure of the driving wheel and the driven wheel, this design reduces the negative influence of high temperature on the damping performance of the gear, ensures that the damping material continuously suppresses resonance under high load, and prolongs the service life of the gear driving unit.

[0012] 2. The wind power generated by the fan is accurately delivered to the meshing position of the driving wheel and the driven wheel through the ventilation pipe to accelerate the heat dissipation of the high temperature position, and then high-efficiency cooling is realized, and the use of the cooling assembly maintains the stability of the temperature change of the driving wheel and the driven wheel, and thus the anti-resonance ability of the driving unit is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a whole structure schematic view of the utility model.

[0014] Figure 2 It is the bottom view schematic view of partial structure of the utility model;

[0015] Figure 3 It is the structure section view schematic view of driven wheel of the utility model;

[0016] Figure 4 It is the structure explosion schematic view of cooling assembly of the utility model;

[0017] Figure 5 It is the structure section view schematic view of driving wheel of the utility model.

[0018] The meaning of each reference numeral in the drawing is as follows:

[0019] 1, driving wheel;11, paraffin;2, machine body;3, driven wheel;4, servo motor;5, cooling assembly;51, air bellow;52, ventilation pipe;53, fan. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0021] At present, for the gear of high damping material, its friction temperature is easy to rise under the continuous use of high load working condition, and high temperature is easy to make the damping performance of gear attenuate, which may reduce the effect of inhibiting resonance. The utility model provides a kind of high load capacity gear driving unit of industrial robot, as shown in Figure 1 The utility model discloses a kind of high load capacity gear driving units of industrial robot, as shown in Fig. 1, including driving wheel 1, driving wheel 1, driving wheel 1 side meshing connection has driven wheel 3, driven wheel 3 and the outside installation of driving wheel 1 has machine body 2, the outer wall of machine body 2 is equipped with servo motor 4, and the output end of servo motor 4 is fixedly connected with the transmission shaft of driving wheel 1, servo motor 4 drives driving wheel 1 rotation, passes through its and the precise meshing transmission power of driven wheel 3, realizes high torque output;Machine body 2 is support structure, carries driving wheel 1 and driven wheel 3, specifically, driving wheel 1 and driven wheel 3 are set to hone tooth, for reducing the meshing impact generated when driving wheel 1 and driven wheel 3 run, hone tooth finish improves, friction coefficient reduces, sliding friction reduces when driving wheel 1 and driven wheel 3 meshing, to reduce instantaneous impact force.

[0022] Referring to Figure 1As shown, the outer wall of the driving wheel 1 and the driven wheel 3 is provided with a high wear-resistant lubricating oil with low viscosity, which is used to reduce the engagement resistance between the two, the low viscosity characteristic reduces the fluid friction resistance when the driving wheel 1 and the driven wheel 3 engage, the high wear-resistant lubricating oil forms a chemical adsorption film on the contact surface, avoiding direct metal contact, thereby reducing the sliding friction energy consumption.

[0023] Referring to Figure 1 As shown, the body 2 is provided with an aluminum alloy, which is used to reduce the self weight and improve the driving unit load, the low density characteristic of the aluminum alloy directly reduces the total mass of the body 2, thereby reducing the overall inertia load of the driving unit and improving the response speed and dynamic performance of the industrial robot gear drive.

[0024] Working principle: when the driving wheel 1 and the driven wheel 3 are running under high load, the friction heat is absorbed by the paraffin 11, triggering the phase change from solid to liquid, delaying the temperature rise; after the temperature decreases, the paraffin 11 solidifies to release the stored heat, at the same time, the fan 53 starts to work, the wind force is evenly distributed to the multiple ventilation pipes 52 through the wind box 51, the outlet of the ventilation pipe 52 is located just below the engagement position of the driving wheel 1 and the driven wheel 3, and the wind force directly acts on the high temperature area, quickly taking away the residual heat released when the paraffin 11 solidifies and the friction heat, through the cooperation of the cooling assembly 5, the working temperature of the driving wheel 1 and the driven wheel 3 is always in a reasonable range, and the performance is stable, thereby continuously suppressing the resonance.

[0025] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only preferred examples of the present application and do not limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An industrial robot high load capacity gear drive unit, comprising a driving wheel (1), a driven wheel (3) connected with the driving wheel (1) on one side, a body (2) mounted outside the driving wheel (1) and the driven wheel (3), a servo motor (4) mounted on the outer wall of the body (2), and the output end of the servo motor (4) fixedly connected with the transmission shaft of the driving wheel (1), characterized in that: The inner part of the driving wheel (1) and the driven wheel (3) is provided with a cavity, the cavity is filled with paraffin (11), the paraffin (11) delays the attenuation of damping performance through the heat absorption and solidification reaction, the lower part of the driving wheel (1) and the driven wheel (3) is provided with a cooling assembly (5), the cooling assembly (5) includes a wind box (51) installed on the inner wall surface of the machine body (2), the inside of the wind box (51) is provided with two fans (53), the fans (53) generate wind force, the top of the wind box (51) is provided with a plurality of ventilation pipes (52), the ventilation pipes (52) convey wind force to cool the driving wheel (1) and the driven wheel (3).

2. The industrial robot high load capacity gear unit according to claim 1, characterized in that: The driving wheel (1) and the driven wheel (3) are provided with a gear hole, which is used to reduce the meshing impact generated during the operation of the driving wheel (1) and the driven wheel (3).

3. The industrial robot high load capacity gear unit according to claim 1, characterized in that: The cavity of the driving wheel (1) and the driven wheel (3) is a honeycomb structure, which is composed of a plurality of hexagonal holes.

4. The industrial robot high load capacity gear unit according to claim 1, characterized in that: The outer wall of the driving wheel (1) and the driven wheel (3) is provided with low viscosity high wear-resistant lubricating oil, which is used to reduce the meshing resistance between them.

5. The industrial robot high load capacity gear unit according to claim 1, characterized in that: The machine body (2) is made of aluminum alloy, which is used to reduce the self weight.

6. The industrial robot high load capacity gear unit according to claim 1, characterized in that: The outlet end of the ventilation pipe (52) is located directly below the meshing position of the driving wheel (1) and the driven wheel (3).

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