CN110561492A - Wrist motor gear box of six-axis mechanical arm - Google Patents
Wrist motor gear box of six-axis mechanical arm Download PDFInfo
- Publication number
- CN110561492A CN110561492A CN201910947246.2A CN201910947246A CN110561492A CN 110561492 A CN110561492 A CN 110561492A CN 201910947246 A CN201910947246 A CN 201910947246A CN 110561492 A CN110561492 A CN 110561492A
- Authority
- CN
- China
- Prior art keywords
- shell
- cold water
- wrist motor
- water channel
- gear box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 40
- 238000007789 sealing Methods 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 230000007704 transition Effects 0.000 claims description 3
- 230000017525 heat dissipation Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 2
- 239000006185 dispersion Substances 0.000 abstract 1
- 239000000110 cooling liquid Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wrist motor gear box of a six-axis mechanical arm, which comprises a cylindrical hollow shell with one sealed surface and one open surface and a base integrally formed with the shell, wherein a mounting hole is formed in the base and connected with a small arm seat; the sealing surface of the shell is provided with three through holes, three output shafts of the motor set are respectively connected with the gear assembly in the shell through the three through holes, and mounting counter bores are uniformly arranged on the opening end surface of the shell and are fixedly connected with the rotary flange seat through the mounting counter bores; and a cold water channel is arranged on the opening end surface of the shell, and the cold water channel is transversely arranged along the shell and staggered with the position of the mounting counter bore. The wrist motor gear box disclosed by the invention has a heat dissipation function, is simple in structure and process, and can accelerate the heat dispersion of a gear assembly in the gear box body during working so that the six-axis mechanical arm works normally and stably.
Description
Technical Field
the invention belongs to the technical field of six-axis mechanical arms, and particularly relates to a wrist motor gear box of a six-axis mechanical arm.
Background
a six-axis robot is a robot with six degrees of freedom in three dimensions. (two degrees of freedom motion, linear or rotational, can be achieved about the axis of each degree of freedom of each joint). Through the mutual matching of the servo motors and the speed reducers of all the axes, the working point of the mechanical arm terminal can move along the linear direction and the rotating direction of the XYZ axes, and can accurately reach any point on a three-dimensional space to work. The six-axis mechanical arm has the advantages of high precision, short response time, high working speed, large relative load and the like. In the industrial manufacturing field, the six-axis mechanical arm is mainly used for spot welding, arc welding, paint spraying, cutting, electronic assembly, transportation of logistics systems, packaging and other works in an automatic production line.
The wrist comprises a driving device, a transmission device and an output shaft, and the wrist is driven by three motors, so that the speed change gear assembly of the motor output shaft of the wrist is concentrated in the motor gear box for transmission and is output through the transmission shaft. Wrist motor gear case's one end is connected with three groups of motors and reduction gears, and the drive assembly in the box is numerous, so drive assembly can produce a large amount of heat energy at the in-process of work, and traditional wrist motor gear case does not have heat radiation structure, only relies on the heat radiation structure of motor and reduction gear self-bring to dispel the heat, under the highly compressed operational environment of high load, wrist motor gear case's heat dissipation problem also needs to be solved urgently.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects in the prior art, the invention aims to provide a wrist motor gear box of a six-axis mechanical arm with a heat dissipation function.
The technical scheme is as follows: in order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
A wrist motor gear box of a six-axis mechanical arm comprises a cylindrical hollow shell with one sealed surface and one opened surface and a base which is integrally formed with the shell, wherein a mounting hole is formed in the base and is connected with a small arm seat; the sealing surface of the shell is provided with three through holes, three output shafts of the motor set are respectively connected with the gear assembly in the shell through the three through holes, and mounting counter bores are uniformly arranged on the opening end surface of the shell and are fixedly connected with the rotary flange seat through the mounting counter bores; and a cold water channel is arranged on the opening end surface of the shell, and the cold water channel is transversely arranged along the shell and staggered with the position of the mounting counter bore.
preferably, the number of the cold water channels is 3-6.
Preferably, the cold water passage is sealed by a sealing plug at the opening end face of the housing.
preferably, the cold water channel is provided with a counter bore at the opening end face of the shell, and the sealing plug is arranged in the counter bore.
Preferably, a water inlet and a water outlet are arranged on the periphery of the shell, and the water inlet and the water outlet are communicated with the inner wall of the shell and the cold water channel.
Preferably, a water inlet joint and a water outlet joint are respectively arranged in the water inlet and the water outlet and are communicated with an external water pipe.
Preferably, a groove spirally surrounding the cold water channel is arranged on the inner wall of the cold water channel.
Preferably, the inside of the groove is spherical, and a fillet is arranged at the transition position of the groove and the surface of the inner wall of the cold water channel. Has the advantages that: compared with the prior art, the invention has the following advantages: the wrist motor gear box of the six-axis mechanical arm disclosed by the invention is provided with the cooling liquid channel, has a heat dissipation function, and can quickly dissipate heat generated by the quick rotation of the gear transmission assembly in the gear box, so that the motor gear box can normally work in a high-pressure and high-load environment.
The radiating cold water channel is arranged on the opening end face of the shell, the structure is simple, the processing technology is simple, and the external integral structure of the motor gear box and the assembly of other parts are not influenced.
The design of the spiral groove enables cooling liquid to form turbulent flow in the cold water channel, and smoothness of water flow is guaranteed while heat absorption and heat dissipation efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of a six-axis robotic arm;
FIG. 2 is an exploded view of the internal and external mounting assembly structure of wrist motor gearbox 201;
FIG. 3 is a three-dimensional block diagram of wrist motor gear box 201;
FIG. 4 is a left side view of the wrist motor gearbox 201 of FIG. 3;
3 FIG. 3 5 3 is 3 a 3 cross 3- 3 sectional 3 view 3 taken 3 along 3 line 3 A 3- 3 A 3 of 3 FIG. 3 4 3; 3
FIG. 6 is an enlarged view taken at I in FIG. 5;
Fig. 7 is a sectional view taken along line B-B in fig. 5.
Detailed Description
The invention will be further elucidated with reference to the drawing.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of a six-axis robot arm; the six-axis mechanical arm comprises a box body 100, a driving arm seat 500, a big arm 600, a wrist, a small arm assembly and a front claw 700; the driving arm seat 500 is arranged at the upper part of the box body 100; the bottom end of the big arm 600 is connected with the driving arm seat 500 through a first connecting assembly, and the upper end is connected with the small arm assembly; the forearm assembly is connected to the front jaw 700 via the wrist.
The small arm assembly comprises a small arm seat 301, and the small arm seat 301 is connected with the upper end of the large arm 600.
The wrist comprises a wrist motor gear box 201 arranged on a small arm seat 301, a central shaft 202 and a motor set 203; the back part of the wrist motor gear box 201 is connected with the motor set 203, the front part is connected with the central shaft 202, and the front end of the central shaft 202 is connected with the front claw 700; the motor set 203 drives the center shaft 202 to rotate through the wrist motor gear box 201, and the center shaft 202 drives the front claw 700 at the front end to perform rotary motion.
As shown in fig. 2, fig. 2 is an exploded view of the internal and external mounting assembly structure of wrist motor gear box 201.
The wrist motor gear box 201 internally comprises a gear assembly 204 connected with a motor set 203, the gear assembly 204 is connected with a central shaft 202, the front part of the wrist motor gear box 201 is also provided with a rotary flange seat 205, and a bearing 206, a bearing isolation sleeve 207, a bearing flange 208 and an oil seal 209 are arranged between the rotary flange seat 205 and the central shaft 202. The rotary flange seat 205 is connected with the front end of the wrist motor gear box 201 through a fastener, and the lower end of the wrist motor gear box 201 is connected with the small arm seat 301 through a fastener.
As shown in fig. 2 and 3, fig. 3 is a three-dimensional structural view of the wrist motor gear box 201, and fig. 2 also shows a three-dimensional view of the wrist motor gear box 201. Wrist motor gear box 201 includes one side sealed, one side open-ended cylindrical cavity casing 1 and with casing 1 integrated into one piece's base 2, is equipped with mounting hole 2a on the base 2 and is connected with little arm seat 301. Three through holes 3 are formed in the sealing surface of the casing 1, three output shafts of the motor set 203 are connected with a gear assembly 204 in the casing 1 through the three through holes 3 respectively, and mounting counter bores 1a are uniformly formed in the opening end surface of the casing 1 and are fixedly connected with a rotating flange seat 205 through the mounting counter bores 1 a.
As shown in fig. 3 and 4, fig. 4 is a left side view (open end view of the housing 1) of the middle wrist motor gear box 201 of fig. 3. The heat dissipation mechanism is the cold water channels 4 arranged on the opening end face of the shell 1, the number of the cold water channels 4 is 3-6, the cold water channels are staggered with the position of the mounting counter bore 1a, the connection with the rotating flange seat 205 is not affected, the cold water channels 4 are arranged on the opening end face of the shell 1, the processing is convenient, and drilling is directly carried out by using a drilling tool as with the mounting counter bore 1 a. As shown in fig. 4, the cold water passage 4 is sealed by a sealing plug 5 at the open end face of the housing 1, so that the cold water passage 4 is a sealed cold water pipe.
3 fig. 3 5 3 is 3 a 3 cross 3- 3 sectional 3 view 3 taken 3 along 3 the 3 line 3 a 3- 3 a 3 of 3 fig. 3 4 3, 3 as 3 shown 3 in 3 fig. 3 5 3. 3 Fig. 5 shows only a heat dissipation mechanism of the top of the housing 1, and thus an embodiment of the present invention will be described. The cold water passage 4 is arranged transversely along the housing 1.
As shown in fig. 6, fig. 6 is an enlarged view of fig. 5 at I. The periphery of the shell 1 is provided with a water inlet 4a and a water outlet 4b, and the water inlet 4a and the water outlet 4b are communicated with the inner wall of the shell 1 and the cold water channel 4. A water inlet joint 8 and a water outlet joint 9 are respectively arranged in the water inlet 4a and the water outlet 4 b. The cold water channel 4 is provided with a counter bore 6 at the opening end face of the shell 1, and the sealing plug 5 is arranged in the counter bore 6 without influencing the assembly flatness at the opening end face of the shell 1.
Fig. 7 is a sectional view taken along line B-B in fig. 5, as shown in fig. 7. The water inlet joints 8 of all the cold water channels 4 on the periphery of the shell 1 are connected through a main water inlet pipe 10 (the main water inlet pipe 10 and the main water outlet pipe are external parts and are only shown in fig. 7), and the water outlet joints 9 are connected through another main water outlet pipe (not shown in the figure). The main water inlet pipe 10 and the main water outlet pipe are connected with an external water source for supplying water.
As shown in fig. 6, the inner wall of the cold water channel 4 is provided with a groove 4c spirally surrounding the cold water channel 4, and the wall thickness of the shell 1 at the position can be reduced by the design of the groove 4c on the cold water channel 4, so that the cooling effect is better, and the strength of the inner cooling water channel 4 cannot be reduced by the overall concave-convex structure; the spiral groove 4c structure makes the cooling liquid produce the vortex when groove 4c flows, plays the vortex effect, and the cooling liquid can increase the heat absorption capacity after by the vortex, makes the flow of cooling liquid more smooth and easy in addition. In order to further ensure the flowability of water flow, reduce the eddy resistance and reduce the accumulation of scale, the inside of the groove 4c is spherical, and the transition part between the groove 4c and the inner wall surface of the cold water channel 4 is provided with a fillet.
the foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a wrist motor gear box of six arms which characterized in that: the device comprises a cylindrical hollow shell with one sealed surface and one opened surface and a base integrally formed with the shell, wherein the base is provided with a mounting hole connected with a small arm seat; the sealing surface of the shell is provided with three through holes, three output shafts of the motor set are respectively connected with the gear assembly in the shell through the three through holes, and mounting counter bores are uniformly arranged on the opening end surface of the shell and are fixedly connected with the rotary flange seat through the mounting counter bores; and a cold water channel is arranged on the opening end surface of the shell, and the cold water channel is transversely arranged along the shell and staggered with the position of the mounting counter bore.
2. The wrist motor gearbox of a six-axis robotic arm as defined in claim 1, wherein: the number of the cold water channels is 3-6.
3. the wrist motor gearbox of a six-axis robotic arm as defined in claim 1, wherein: the cold water channel is sealed by a sealing plug arranged on the end face of the opening of the shell.
4. The wrist motor gearbox of a six-axis robotic arm as defined in claim 3, wherein: the cold water channel is provided with a counter bore at the opening end face of the shell, and the sealing plug is arranged in the counter bore.
5. The wrist motor gearbox of a six-axis robotic arm as defined in claim 1, wherein: and a water inlet and a water outlet are arranged on the periphery of the shell, and the water inlet and the water outlet are communicated with the inner wall of the shell and the cold water channel.
6. The wrist motor gearbox of a six-axis robotic arm as defined in claim 5, wherein: and a water inlet joint and a water outlet joint are respectively arranged in the water inlet and the water outlet and are communicated with an external water pipe.
7. The wrist motor gearbox of a six-axis robotic arm as defined in claim 1, wherein: and a groove spirally surrounding the cold water channel is arranged on the inner wall of the cold water channel.
8. The wrist motor gearbox of a six-axis robotic arm as defined in claim 7, wherein: the inside of the groove is spherical, and a fillet is arranged at the transition position of the groove and the surface of the inner wall of the cold water channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910947246.2A CN110561492A (en) | 2019-09-29 | 2019-09-29 | Wrist motor gear box of six-axis mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910947246.2A CN110561492A (en) | 2019-09-29 | 2019-09-29 | Wrist motor gear box of six-axis mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110561492A true CN110561492A (en) | 2019-12-13 |
Family
ID=68783897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910947246.2A Pending CN110561492A (en) | 2019-09-29 | 2019-09-29 | Wrist motor gear box of six-axis mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110561492A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842904A (en) * | 2019-12-18 | 2020-02-28 | 江苏诺必达机器人科技有限公司 | Transmission mechanism suitable for six-axis robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997018928A1 (en) * | 1995-11-17 | 1997-05-29 | Kabushiki Kaisha Yaskawa Denki | Wrist mechanism for articulated robot |
| CN106384729A (en) * | 2016-10-18 | 2017-02-08 | 池州脉纬散热器有限责任公司 | Heat radiating pipe with uniform heat radiation |
| CN205978427U (en) * | 2016-06-28 | 2017-02-22 | 长城汽车股份有限公司 | Seal ring and motor |
| CN109660073A (en) * | 2019-01-22 | 2019-04-19 | 江苏仪能电机有限公司 | A kind of water-cooled machine of novel turbulence structure |
-
2019
- 2019-09-29 CN CN201910947246.2A patent/CN110561492A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997018928A1 (en) * | 1995-11-17 | 1997-05-29 | Kabushiki Kaisha Yaskawa Denki | Wrist mechanism for articulated robot |
| CN205978427U (en) * | 2016-06-28 | 2017-02-22 | 长城汽车股份有限公司 | Seal ring and motor |
| CN106384729A (en) * | 2016-10-18 | 2017-02-08 | 池州脉纬散热器有限责任公司 | Heat radiating pipe with uniform heat radiation |
| CN109660073A (en) * | 2019-01-22 | 2019-04-19 | 江苏仪能电机有限公司 | A kind of water-cooled machine of novel turbulence structure |
Non-Patent Citations (1)
| Title |
|---|
| 专业设计非标: "六轴机器人Solidworks 3D模型图", pages 1 - 11, Retrieved from the Internet <URL:https://www.mfcad.com/tuzhi/800/402036.html> * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842904A (en) * | 2019-12-18 | 2020-02-28 | 江苏诺必达机器人科技有限公司 | Transmission mechanism suitable for six-axis robot |
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