Rotary speed reducer for robot elbow joint

Abstract

The utility model provides a robot elbow joint rotary speed reducer, including speed reducer body and output flange, speed reducer body includes the front shell, the center of front shell is rotatingly equipped with the planet carrier as output end, the front end face of planet carrier is coaxially equipped with the connecting shaft, the outer wall of connecting shaft is equipped with a plurality of rotation limit slider, the output flange is equipped with the output flange, the output flange is equipped with the output flange, the output flange is equipped with the output flange. A locking screw hole is formed in the side wall of the rotation limiting sliding block, the output flange comprises a flange plate and a flange shaft which are coaxially connected, a connecting groove connected with the connecting shaft in an inserted mode is formed in the rear end face of the flange shaft, a nail penetrating hole is formed in the outer wall of the flange shaft, and a hand screw in threaded connection with the locking screw hole is arranged on the nail penetrating hole in a penetrating mode. According to the rotary speed reducer for the elbow joint of the robot, the output end of the speed reducer and the output flange are fixed through one hand screw, a screwdriver is not needed during disassembly, only one hand screw needs to be assembled and disassembled, the disassembly and assembly process is simple, and the work efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to the technical field of speed reducers, and in particular to a rotary speed reducer for a robot elbow joint. Background Technology

[0002] The robotic elbow joint is a key component of the robotic arm, similar to the human elbow joint. It is mainly used to enable the robotic arm to perform actions such as bending, extending, and rotating, thereby increasing the flexibility and range of motion of the robotic arm.

[0003] The existing Chinese patent application publication number CN103612265A discloses a front end rotation mechanism for a robot elbow joint, including an elbow joint body and a drive assembly. The drive assembly includes a servo motor, the output end of which is connected to a reducer. The reducer is connected to a transition flange, and the transition flange is connected to a front end flange.

[0004] The existing technical solutions mentioned above have the following drawbacks: the reducer is connected to the transition flange through the output end. The traditional connection method is to fix the transition flange to the output end of the reducer with multiple screws. Although this connection method can achieve the fixed installation of the transition flange, the fixing method with multiple screws makes the disassembly and assembly process cumbersome. When repairing or maintaining the robot, a lot of time and effort are required to disassemble and install these screws, which reduces work efficiency. Utility Model Content

[0005] The present invention aims to address the aforementioned shortcomings in the prior art by providing a rotary reducer for a robot elbow joint, which solves the problem of low work efficiency in the prior art.

[0006] The above-mentioned utility model objective is achieved through the following technical solution: a rotary reducer for a robot elbow joint, comprising a reducer body and an output flange. The reducer body includes a front housing, and a planetary carrier serving as the output end is rotatably disposed at the center of the front housing. A connecting shaft is coaxially disposed on the front end face of the planetary carrier. A plurality of rotation-limiting sliders are disposed on the outer wall of the connecting shaft. Locking screw holes are opened on the side walls of the rotation-limiting sliders. The output flange includes a flange plate and a flange shaft coaxially connected. A connecting groove for insertion into the connecting shaft is opened on the rear end face of the flange shaft. A through-bolt hole is opened on the outer wall of the flange shaft, and a hand-tightening screw that is threadedly connected to the locking screw hole is disposed in the through-bolt hole.

[0007] The present invention is further configured such that: a sliding groove is provided on the side wall of the limited-rotation slider away from the connecting shaft, a positioning buckle is slidably disposed in the sliding groove, a push spring is provided in the sliding groove to push the positioning buckle out of the sliding groove, and a positioning hole is provided on the outer wall of the flange shaft to engage with the positioning buckle.

[0008] The present invention is further configured such that: the front housing has an internal gear ring inside, a plurality of spindles are interference-fitted on the planetary carrier, planetary gears are rotatably mounted on the spindles, and a sun gear coaxial with the planetary carrier is rotatably mounted at the center of the planetary carrier, and the planetary gears mesh with both the internal gear ring and the sun gear.

[0009] The present invention is further configured such that: a front axle body is coaxially provided at the front end of the sun gear, and an inner bearing located on the front side of the sun gear is interference-fitted in the planetary carrier, and the inner bearing is fitted onto the front axle body.

[0010] The present invention is further configured such that: a tapered front sealing groove and a front bearing groove are sequentially formed on the front end face of the front housing; a front sealing ring fitted on the planetary carrier is embedded in the front sealing groove; and a front bearing fitted on the front part of the planetary carrier is interference-fitted in the front bearing groove.

[0011] The present invention is further configured such that: a central bearing groove is provided on the rear end face of the front housing, a central bearing sleeved on the rear part of the planetary carrier is interference-fitted in the central bearing groove, and a locking nut for applying axial preload to the central bearing is threadedly connected to the rear part of the planetary carrier.

[0012] The present invention is further configured such that: a rear shaft body is coaxially provided at the rear end of the sun gear; a connecting flange is provided at the rear end of the front housing to press and fix the middle bearing in the middle bearing groove; an input bushing is rotatably provided at the center of the connecting flange; an insertion hole for insertion into the rear shaft body is provided on the front end face of the input bushing; and cylindrical pins that radially penetrate both the input bushing and the rear shaft body are provided on the input bushing and the rear shaft body.

[0013] The present invention is further configured such that: a tapered receiving groove and a rear sealing groove are sequentially opened on the front end face of the connecting flange, and a rear sealing ring fitted on the input shaft sleeve is embedded in the rear sealing groove.

[0014] The present invention is further configured such that: a rear bearing groove is provided on the rear end face of the connecting flange, and a rear bearing sleeved on the input shaft sleeve is interference-fitted into the rear bearing groove.

[0015] The present invention is further configured such that: an outer retaining ring groove with a diameter smaller than that of the rear bearing groove is provided on the bottom wall of the rear bearing groove; an inner retaining ring groove aligned with the outer retaining ring groove is provided circumferentially on the outer wall of the input shaft sleeve; a limiting retaining ring is fitted on the input shaft sleeve; the inner ring of the limiting retaining ring is embedded in the inner retaining ring groove; and the outer ring of the limiting retaining ring is embedded in the outer retaining ring groove.

[0016] In summary, the beneficial technical effects of this utility model are as follows: the rotary reducer for the robot elbow joint is fixed between the reducer output end and the output flange by a single hand-tightening screw. No screwdriver is needed for disassembly and assembly, and only one hand-tightening screw needs to be installed or removed. The disassembly and assembly process is simple. When repairing or maintaining the robot, there is no need to spend a lot of time and effort disassembling and assembling the output flange, which helps to improve work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the rotary reducer for the robot elbow joint in this utility model;

[0018] Figure 2 This is a cross-sectional view of the rotary reducer for the robot elbow joint in this utility model;

[0019] Figure 3 This is a cross-sectional structural view of each component inside the reducer body in this utility model;

[0020] Figure 4 yes Figure 2 Enlarged view of point A in the middle;

[0021] Figure 5 This is a schematic diagram of the planetary carrier and output flange in this utility model.

[0022] In the above attached figures: 1. Reducer body; 2. Output flange; 3. Front housing; 4. Internal gear ring; 5. Connecting disc; 6. Mounting hole; 7. Connecting flange; 8. Motor flange; 9. Planetary carrier; 10. Spindle; 11. Planetary gear; 12. Sun gear; 13. Front shaft; 14. Rear shaft; 15. Inner bearing; 16. Front sealing groove; 17. Front bearing groove; 18. Front sealing ring; 19. Front bearing; 20. Intermediate bearing groove; 21. Intermediate bearing; 22. Lock nut; 23. Input bushing; 24. Insertion hole; 25. Cylindrical pin; 26. 1. Coupling hole; 27. Receiving groove; 28. Rear seal groove; 29. ​​Rear seal ring; 30. Rear bearing groove; 31. Rear bearing; 32. External snap ring groove; 33. Internal snap ring groove; 34. Limiting snap ring; 35. Bearing pressure groove; 36. Bushing through hole; 37. Connecting shaft; 38. Rotation limiting slider; 39. Slip groove; 40. Positioning buckle; 41. Push buckle spring; 42. Locking screw hole; 43. Flange; 44. Flange hole; 45. Flange shaft; 46. Connecting groove; 47. Rotation limiting slide groove; 48. Positioning hole; 49. Through nail hole; 50. Hand screw. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this utility model clearer and easier to understand, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0024] like Figure 1 As shown, this utility model proposes a rotary reducer for a robot elbow joint, including a reducer body 1 and an output flange 2 disposed on the output end of the reducer body 1.

[0025] like Figure 1 and 2 As shown, the reducer body 1 includes a front housing 3, a connecting flange 7, and a motor flange 8. The front housing 3 has an internal gear ring 4 inside. A disc-shaped connecting plate 5 is fixedly connected to the outer wall of the front housing 3. The connecting plate 5 has several mounting holes 6 evenly distributed around its circumference. The front housing 3 is fixed to the elbow joint body through the connecting plate 5 with mounting holes 6. The connecting flange 7 is screwed to the rear end of the front housing 3, and the motor flange 8 is screwed to the rear end of the connecting flange 7.

[0026] like Figure 2 and 3 As shown, the front housing 3 houses a planetary carrier 9, planetary gears 11, and a sun gear 12. The planetary carrier 9 is rotatably positioned at the center of the front housing 3 and serves as the output end of this rotary reducer. Three equidistantly distributed spindles 10 are interference-fitted onto the planetary carrier 9, and the planetary gears 11 are rotatably mounted on the spindles 10 via needle roller bearings. The sun gear 12 is coaxially mounted at the center of the planetary carrier 9, serving as a power input component and meshing with the three planetary gears 11. The three planetary gears 11 are evenly distributed between the sun gear 12 and the internal gear ring 4, maintaining mesh with both the central sun gear 12 and the outer internal gear ring 4.

[0027] When the sun gear 12 is driven to rotate, it will drive the planet gear 11 that meshes with it to rotate. Since the internal gear ring 4 that meshes with the planet gear 11 is fixed in the front housing 3 and the front housing 3 remains fixed, the planet gear 11 will revolve along the internal gear ring 4 while rotating around the spindle 10, thereby driving the planet carrier 9 that carries the planet gear 11 to rotate around the central axis.

[0028] like Figure 2 and 3 As shown, the front end of the sun gear 12 is coaxially fixed to the front axle 13, and the rear end of the sun gear 12 is coaxially fixed to the rear axle 14. An inner bearing 15 is interference-fitted into the planetary carrier 9. The inner bearing 15 is located on the front side of the sun gear 12 and is mounted on the front axle 13. The inner bearing 15 supports the rotation of the sun gear 12 through the front axle 13, which is coaxially connected to the sun gear 12.

[0029] like Figure 2As shown, a tapered front sealing groove 16 and a front bearing groove 17 are sequentially formed on the front end face of the front housing 3. A front sealing ring 18 is embedded in the front sealing groove 16 and is fitted onto the planetary carrier 9. The front sealing ring 18 is a lip-shaped sealing ring. A front bearing 19 is interference-fitted into the front bearing groove 17 and is fitted onto the front part of the planetary carrier 9. The front bearing 19 is used to support the rotation of the planetary carrier 9.

[0030] like Figure 2 As shown, a central bearing groove 20 is provided on the rear end face of the front housing 3. A central bearing 21 is interference-fitted into the central bearing groove 20 and is sleeved on the rear part of the planetary carrier 9. The central bearing 21 is used to support the rotation of the planetary carrier 9. The outer wall of the rear part of the planetary carrier 9 has external threads. A lock nut 22 is threadedly connected to the rear part of the planetary carrier 9 through the external threads. The front end of the lock nut 22 abuts against the central bearing 21, and the lock nut 22 can apply an axial preload to the central bearing 21.

[0031] like Figure 2 and 3 As shown, the connecting flange 7 presses and fixes the intermediate bearing 21 in the intermediate bearing groove 20. An input sleeve 23 is rotatably mounted at the center of the connecting flange 7. The front end face of the input sleeve 23 has an insertion hole 24 for insertion into the rear shaft 14. Cylindrical pins 25 are provided on both the input sleeve 23 and the rear shaft 14, radially penetrating both. This restricts the separation of the input sleeve 23 and the rear shaft 14, and also restricts their relative rotation. A coupling hole 26 is provided on the rear end face of the input sleeve 23, through which the input sleeve 23 is connected to the motor shaft. The input sleeve 23 and the motor shaft are coaxially connected by a key.

[0032] like Figure 2 As shown, a tapered receiving groove 27 and a rear sealing groove 28 are sequentially opened on the front end face of the connecting flange 7. The rear end of the planetary carrier 9 extends into the receiving groove 27, and the locking nut 22 is located in the receiving groove 27. A rear sealing ring 29 is embedded in the rear sealing groove 28. The rear sealing ring 29 is sleeved on the input shaft sleeve 23. The rear sealing ring 29 is a lip seal ring.

[0033] like Figure 2 As shown, a rear bearing groove 30 is provided on the rear end face of the connecting flange 7, and a rear bearing 31 is interference-fitted into the rear bearing groove 30. The rear bearing 31 is sleeved on the input shaft sleeve 23 and is used to support the rotation of the rear shaft sleeve.

[0034] like Figure 2As shown, an outer retaining ring groove 32 with a diameter smaller than that of the rear bearing groove 30 is provided on the bottom wall of the rear bearing groove 30. An inner retaining ring groove 33 aligned with the outer retaining ring groove 32 is provided circumferentially on the outer wall of the input bushing 23. A limiting retaining ring 34 is fitted on the input bushing 23. The inner ring of the limiting retaining ring 34 is embedded in the inner retaining ring groove 33, and the outer ring of the limiting retaining ring 34 is embedded in the outer retaining ring groove 32. Thus, the axial sliding of the input bushing 23 is restricted.

[0035] like Figure 2 As shown, the front end face of the motor flange 8 has a tapered bearing groove 35 and a bushing through hole 36. The bearing groove 35 is used for the rear bearing 31 to be inserted. The motor flange 8 presses and fixes the rear bearing 31 in the rear bearing groove 30. The rear end of the input bushing 23 passes through the bearing groove 35 and the bushing through hole 36 in sequence. The rear end face of the motor flange 8 has several screw holes. The motor is fixed to the rear end face of the motor flange 8 by screws that mate with the screw holes. The motor shaft is inserted into the coupling hole 26 and coaxially connected to the input bushing 23 by a key connection.

[0036] like Figure 4 and 5 As shown, a connecting shaft 37 is coaxially fixed to the front end face of the planetary carrier 9. A pair of rotation limiting sliders 38 are symmetrically arranged on the outer wall of the connecting shaft 37. One rotation limiting slider 38 has a sliding groove 39 on its side wall away from the connecting shaft 37. A bullet-shaped positioning buckle 40 is slidably arranged in the sliding groove 39. A push-pull spring 41 is arranged in the sliding groove 39. The push-pull spring 41 is arranged between the positioning buckle 40 and the bottom wall of the sliding groove 39. The push-pull spring 41 is used to push the positioning buckle 40 to slide out of the sliding groove 39. The other rotation limiting slider 38 has a locking screw hole 42 on its side wall away from the connecting shaft 37. The locking screw hole 42 is aligned with the sliding groove 39.

[0037] like Figure 4 and 5 As shown, the output flange 2 includes a flange 43 and a flange shaft 45 coaxially connected. The flange 43 has several flange holes 44 evenly distributed around its circumference. The rear end face of the flange shaft 45 has a connecting groove 46 for insertion into the connecting shaft 37. The outer wall of the flange shaft 45 has a positioning hole 48 and a through-bolt hole 49. The positioning hole 48 is used to engage with the positioning buckle 40. The through-bolt hole 49 is provided with a hand screw 50 that is threaded into the locking screw hole 42.

[0038] In this embodiment, the detailed installation process of the output flange 2 is as follows: The worker inserts the connecting shaft 37 into the connecting groove 46 until the positioning hole is aligned with the sliding groove 39. The push spring 41 pushes the positioning buckle 40 to slide out of the sliding groove 39 and into the positioning hole 48. At this time, the locking screw hole 42 and the through screw hole 49 can maintain alignment. Then, the hand screw 50 is passed through the through screw hole 49 and threadedly connected to the locking screw hole 42.

[0039] The rotary reducer used in the robot's elbow joint is fixed between the reducer output end and the output flange 2 by a single hand-tightening screw 50. No screwdriver is needed for disassembly and assembly; only one hand-tightening screw 50 needs to be installed or removed. The disassembly and assembly process is simple. When repairing or maintaining the robot, there is no need to spend a lot of time and effort disassembling and assembling the output flange 2, which helps to improve work efficiency.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A rotary reducer for a robot elbow joint, comprising a reducer body (1) and an output flange (2), characterized in that: The reducer body (1) includes a front housing (3), a planetary carrier (9) serving as the output end is rotatably arranged at the center of the front housing (3), a connecting shaft (37) is coaxially arranged on the front end face of the planetary carrier (9), a plurality of rotation limiting sliders (38) are arranged on the outer wall of the connecting shaft (37), and a locking screw hole (42) is opened on the side wall of the rotation limiting slider (38). The output flange (2) includes a flange (43) and a flange shaft (45) coaxially connected, a connecting groove (46) for inserting into the connecting shaft (37) is opened on the rear end face of the flange shaft (45), a through screw hole (49) is opened on the outer wall of the flange shaft (45), and a hand screw (50) threadedly connected to the locking screw hole (42) is threaded through the through screw hole (49).

2. The rotary reducer for a robot elbow joint according to claim 1, characterized in that: The limiting slider (38) has a sliding groove (39) on its side wall away from the connecting shaft (37). A positioning buckle (40) is slidably arranged in the sliding groove (39). A push spring (41) is provided in the sliding groove (39) to push the positioning buckle (40) out of the sliding groove (39). A positioning hole (48) is provided on the outer wall of the flange shaft (45) to engage with the positioning buckle (40).

3. The rotary reducer for a robot elbow joint according to claim 1, characterized in that: The front housing (3) has an internal gear ring (4) inside. Several spindles (10) are interference-fitted onto the planet carrier (9). Planetary gears (11) are rotatably mounted on the spindles (10). A sun gear (12) is rotatably mounted at the center of the planet carrier (9) and is coaxial with it. The planetary gears (11) mesh with both the internal gear ring (4) and the sun gear (12).

4. A rotary reducer for a robot elbow joint according to claim 3, characterized in that: The front end of the sun gear (12) is coaxially provided with a front axle body (13), and the planet carrier (9) is interference-fitted with an inner bearing (15) located on the front side of the sun gear (12), and the inner bearing (15) is fitted onto the front axle body (13).

5. A rotary reducer for a robot elbow joint according to claim 3, characterized in that: The front housing (3) has a tapered front sealing groove (16) and a front bearing groove (17) sequentially opened inward on the front end face. The front sealing groove (16) is fitted with a front sealing ring (18) sleeved on the planetary carrier (9), and the front bearing groove (17) is interference-fitted with a front bearing (19) sleeved on the front part of the planetary carrier (9).

6. A rotary reducer for a robot elbow joint according to claim 3, characterized in that: The front housing (3) has a central bearing groove (20) on its rear end face. A central bearing (21) fitted into the central bearing groove (20) is inserted into the central bearing groove (20) and sleeved on the rear part of the planetary carrier (9). A locking nut (22) that applies axial preload to the central bearing (21) is threadedly connected to the rear part of the planetary carrier (9).

7. A rotary reducer for a robot elbow joint according to claim 3, characterized in that: The rear end of the sun gear (12) is coaxially provided with a rear shaft body (14). The rear end of the front housing (3) is provided with a connecting flange (7) that presses and fixes the middle bearing (21) in the middle bearing groove (20). An input bushing (23) is rotatably provided at the center of the connecting flange (7). An insertion hole (24) for inserting into the rear shaft body (14) is provided on the front end face of the input bushing (23). A cylindrical pin (25) that radially penetrates both the input bushing (23) and the rear shaft body (14) is provided on the input bushing (23) and the rear shaft body (14).

8. A rotary reducer for a robot elbow joint according to claim 7, characterized in that: The front end face of the connecting flange (7) is provided with a tapered receiving groove (27) and a rear sealing groove (28) in sequence, and a rear sealing ring (29) fitted on the input shaft sleeve (23) is embedded in the rear sealing groove (28).

9. A rotary reducer for a robot elbow joint according to claim 7, characterized in that: The rear end face of the connecting flange (7) is provided with a rear bearing groove (30), and a rear bearing (31) sleeved on the input shaft sleeve (23) is interference-fitted into the rear bearing groove (30).

10. A rotary reducer for a robot elbow joint according to claim 9, characterized in that: The bottom wall of the rear bearing groove (30) is provided with an outer retaining ring groove (32) with a diameter smaller than that of the rear bearing groove (30). The outer wall of the input bushing (23) is provided with an inner retaining ring groove (33) aligned with the outer retaining ring groove (32). A limiting retaining ring (34) is fitted on the input bushing (23). The inner ring of the limiting retaining ring (34) is embedded in the inner retaining ring groove (33), and the outer ring of the limiting retaining ring (34) is embedded in the outer retaining ring groove (32).

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