CN221756040U - Wrist of industrial robot - Google Patents

Abstract

The utility model discloses a wrist of an industrial robot, which comprises a wrist shell and a swinging shell, wherein the wrist shell is in running fit with the swinging shell, and the wrist shell is internally provided with: the transmission structure of the fifth shaft motor and the transmission structure of the sixth shaft motor are arranged at the third joint, power is transmitted to the wrist through the five-shaft transmission shaft and the six-shaft transmission shaft, the five-shaft transmission shaft and the six-shaft transmission shaft adopt an inner-outer nesting mode, meanwhile, the transmission direction of the synchronous belt and the tightness degree are changed through the five-shaft tensioning device and the six-shaft tensioning device, after structural optimization, the whole volume is reduced, the transmission structure of the synchronous belt is adopted for the fifth shaft motor and the sixth shaft motor to drive each driven belt pulley, and the transmission structure of the synchronous belt is adopted, so that the width of a wrist shell and the weight of a tail end load can be effectively reduced, the structural reliability is high, the processing and manufacturing cost is low, and the assembly is convenient.

Description

An industrial robot wrist

Technical Field

The utility model relates to the technical field of robot transmission, in particular to a wrist of an industrial robot.

Background Art

An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and relies on its own power and control capabilities to achieve various functions.

In the prior art, the wrist of a six-axis industrial robot uses a conventional synchronous belt drive, that is, the fifth-axis and sixth-axis motors are arranged in the wrist shell, and the output shafts of the two motors are respectively equipped with pulleys, and synchronous belt drive is adopted to realize the swing of the fifth axis and the rotation of the sixth axis of the robot. This structure is relatively simple and easy to assemble. The disadvantage is that the motor needs to be arranged horizontally in the wrist shell. Since the motor has a certain length, the width of the wrist shell will be increased, which will make the arm look bulky and unsightly.

At the same time, the fifth-axis and sixth-axis motors are both arranged in the wrist housing, which will increase the load at the end of the robot and increase the energy consumption of the drive axis motor.

Summary of the invention

In order to solve at least one of the technical problems existing in the background technology, the utility model arranges the transmission structure of the fifth-axis motor and the transmission structure of the sixth-axis motor at the third joint, uses a transmission shaft to transmit power to the wrist, and then realizes the movement of the fifth axis and the sixth axis through the transmission of a synchronous belt. This structure can effectively reduce the width of the wrist shell and the weight of the end load.

The utility model provides a wrist of an industrial robot, comprising

The wrist shell and the swing shell are rotatably matched, and the inside of the wrist shell is provided with:

The fifth transmission structure includes a five-axis transmission shaft, a five-axis driving pulley and a five-axis driven pulley, the five-axis driving pulley and the five-axis driven pulley are provided with a five-axis synchronous belt, the five-axis driven pulley is connected to a reducer, and the swing shell rotates in cooperation with the reducer;

The sixth transmission structure includes a six-axis transmission shaft, a six-axis support bearing, a six-axis driving pulley and a six-axis driven pulley, the six-axis transmission shaft passes through the five-axis transmission shaft, a six-axis synchronous belt is arranged between the six-axis driving pulley and the six-axis driven pulley, a pulley shaft is arranged inside the six-axis driven pulley, one end of the pulley shaft is connected to a driving bevel gear, the driving bevel gear is connected to a driven bevel gear, a bevel gear shaft is arranged inside the driven bevel gear, the output end of the bevel gear shaft is connected to a six-axis reducer, the output end of the six-axis reducer is connected to a terminal flange, and the rotation of the terminal flange causes the six-axis to rotate.

Preferably, the five-axis driving pulley is provided with a five-axis support bearing and a five-axis bearing seat, and the five-axis bearing seat is connected to a small arm.

Preferably, the fifth transmission structure also includes a five-axis tensioning device, which is rotatably connected to the wrist shell, and the five-axis tensioning device is provided with a buckle for adjusting and fixing the five-axis synchronous belt. The sixth transmission structure also includes a six-axis tensioning device, which is rotatably connected to the wrist shell.

Preferably, a reducer input shaft is provided between the five-axis driven pulley and the reducer, and an input shaft first support bearing is provided at one end of the reducer input shaft connected to the five-axis driven pulley, and an input shaft second support bearing is provided at one end of the reducer input shaft connected to the reducer, and both the input shaft first support bearing and the input shaft second support bearing are arranged on a support bearing seat.

Preferably, a five-axis driven pulley baffle is provided on the outer side of the five-axis driven pulley, and a pulley baffle is provided on the outer side of the six-axis driven pulley.

Preferably, a first pulley shaft support bearing is provided at one end of the pulley shaft connected to the six-axis driven pulley, and a second pulley shaft support bearing is provided at one end of the pulley shaft connected to the active bevel gear.

Preferably, the sixth transmission structure further comprises a bevel gear adjustment seat and a bevel gear bearing seat, the first support bearing and the second support bearing of the pulley shaft are installed on the active bevel gear in the adjustment seat, and a bevel gear retaining ring is also provided on the active bevel gear.

Preferably, a small bevel gear retaining ring is provided on the driven bevel gear, and a small sleeve and a large sleeve are sequentially sleeved on the outside of the bevel gear shaft.

Preferably, bevel gear shaft support bearings are provided at both ends of the bevel gear shaft, the bevel gear shaft support bearings are fixed on the driven bevel gear bearing seat, and the driven bevel gear bearing seat is provided with a driven bevel gear bearing cover.

Preferably, a five-axis shell support bearing is provided between the wrist shell and the swing shell, and a five-axis shell oil seal is provided on the five-axis shell support bearing.

The beneficial effects brought by the present invention are:

Firstly, the transmission structure of the fifth-axis motor and the transmission structure of the sixth-axis motor of the utility model are both arranged at the third joint, and then the power is transmitted to the wrist through the five-axis transmission shaft and the six-axis transmission shaft. The five-axis transmission shaft and the six-axis transmission shaft are nested inside and outside, and at the same time, the five-axis tensioning device and the six-axis tensioning device are used to change the transmission direction of the synchronous belt and adjust the tightness. After the structure is optimized, the overall volume is reduced.

Secondly, the fifth-axis motor and the sixth-axis motor both use a synchronous belt transmission structure to drive each driven pulley, and then use a synchronous belt transmission structure, which can effectively reduce the width of the wrist shell and the weight of the end load. It has high structural reliability, low processing and manufacturing costs, and easy assembly.

These features and advantages of the present invention will be disclosed in detail in the following specific implementation manners and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, so that other features, purposes and characteristics of the present invention become more obvious. The drawings and descriptions of the exemplary embodiments of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention.

FIG1 is a schematic diagram of the overall structure of the wrist of an industrial robot provided by the present invention.

FIG. 2 is a schematic diagram of the internal transmission principle of the wrist of the industrial robot provided by the present invention.

FIG3 is a schematic structural diagram of a five-axis tensioning device for an industrial robot provided by the present invention.

FIG. 4 is a schematic diagram of a vertical cross-section of the wrist of the industrial robot provided by the present invention.

FIG5 is a schematic horizontal cross-sectional view of the wrist of the industrial robot provided by the present invention.

In the figure: the fifth shaft transmission 1 includes a five-shaft transmission shaft 11, a five-shaft driving pulley 12, a five-shaft support bearing 13, a five-shaft bearing seat 14, a small arm 15, a five-shaft synchronous belt 16, a five-shaft tensioning device 17, a five-shaft driven pulley 18, a reducer input shaft 19, a five-shaft driven pulley baffle 110, an input shaft first support bearing 111, an input shaft second support bearing 112, a support bearing seat 113, a reducer 114, a five-shaft shell support bearing 115, and a five-shaft shell oil seal 116; the sixth shaft transmission 2 includes a six-shaft transmission shaft 21, a six-shaft support bearing 22, a six-shaft driving pulley 23, and a six-shaft tensioning device 24, six-axis synchronous belt 25, six-axis driven pulley 26, six-axis driven pulley baffle 27, pulley shaft 28, pulley shaft first support bearing 29, pulley shaft second support bearing 210, active bevel gear 211, bevel gear retaining ring 212, bevel gear adjustment seat 213, bevel gear bearing seat 214, driven bevel gear 215, bevel gear small retaining ring 216, bevel gear shaft 217, bevel gear shaft support bearing 218, small sleeve 219, large sleeve 220, driven bevel gear bearing cover 221, driven bevel gear bearing seat 222, six-axis reducer 223, end flange 224, wrist shell 3, swing shell 4.

DETAILED DESCRIPTION

The following is an explanation and description of the technical scheme of the embodiment of the utility model in conjunction with the drawings of the embodiment of the utility model, but the following embodiment is only a preferred embodiment of the utility model, not all. Based on the embodiment in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the utility model.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Embodiment 1:

As shown in Figure 1-5:

The utility model discloses a wrist of an industrial robot, which has the following technical features.

As shown in Figure 1: an industrial robot wrist includes a wrist shell 3 and a swing shell 4. The wrist shell 3 and the swing shell 4 are rotatably matched. A five-axis shell support bearing 115 is provided between the wrist shell 3 and the swing shell 4. A five-axis shell oil seal 116 is provided on the five-axis shell support bearing 115.

The wrist shell 3 is provided with a fifth transmission structure 1 and a sixth transmission structure 2. The transmission structure of the fifth axis motor and the transmission structure of the sixth axis motor of the utility model are both arranged at the third joint, and then the power is transmitted to the wrist through the fifth axis transmission shaft and the sixth axis transmission shaft. After the structure is optimized, the overall volume is reduced.

The utility model relates to a fifth transmission structure 1, comprising a five-axis transmission shaft 11, a five-axis driving pulley 12 and a five-axis driven pulley 18, the five-axis driving pulley 12 and the five-axis driven pulley 18 are provided with a five-axis synchronous belt 16, the five-axis driven pulley 18 is connected to a reducer 114, and the swing shell 4 is rotatably matched with the reducer 114;

The five-axis driving pulley 12 is provided with a five-axis support bearing 13 and a five-axis bearing seat 14 , and the five-axis bearing seat 14 is connected with a small arm 15 .

As shown in Fig. 2-3: the fifth transmission structure 1 also includes a five-axis tensioning device 17, which is rotatably connected to the wrist shell 3, and a buckle 170 for adjusting and fixing the five-axis synchronous belt 16 is provided on the five-axis tensioning device 17. The fifth-axis motor and the sixth-axis motor both use a synchronous belt transmission structure to drive each driven pulley, and then use a synchronous belt transmission structure, which can effectively reduce the width of the wrist shell and the weight of the end load, with high structural reliability, low processing and manufacturing cost, and easy assembly.

As shown in Figure 2-5: a reducer input shaft 19 is provided between the five-axis driven pulley 18 and the reducer 114, and an input shaft first support bearing 111 is provided at one end of the reducer input shaft 19 connected to the five-axis driven pulley 18, and an input shaft second support bearing 112 is provided at one end of the reducer input shaft 19 connected to the reducer 114, and both the input shaft first support bearing 111 and the input shaft second support bearing 112 are arranged on a support bearing seat 113.

A five-axis driven pulley baffle 110 is provided on the outer side of the five-axis driven pulley 18 , and a pulley baffle 27 is provided on the outer side of the six-axis driven pulley 26 .

The five-axis motor is connected to the five-axis transmission shaft 11, the five-axis driving pulley 12 is installed on the five-axis transmission shaft 11, the five-axis driving pulley 12 is fixed by the five-axis support bearing 13, the five-axis support bearing 13 is installed on the bearing seat 14, and the five-axis bearing seat 14 is fixed on the small arm 15. The five-axis tensioning device 17 is installed on the wrist shell 3, and the five-axis driven pulley 18 is installed on the reducer input shaft 19 through the pulley baffle 110. The five-axis synchronous belt 16 connects the five-axis driving pulley 12 with the five-axis driven pulley 18 through the five-axis tensioning device 17.

The reducer input shaft 19 is installed on the support bearing seat 113 and the swing housing 4 through the first input shaft support bearing 111 and the second input shaft support bearing 112. The support bearing seat 113 is installed on the wrist housing 3 by screws. The reducer 114 connects the support bearing seat 113 and the swing housing 4, and the five-axis housing support bearing 115 and the five-axis housing oil seal 116 are installed in the corresponding holes of the swing housing 4.

Transmission principle: when the five-axis motor rotates, the five-axis transmission shaft 11 rotates, and the five-axis active pulley 12 rotates accordingly, and at the same time, the five-axis driven pulley 18 follows the rotation through the five-axis synchronous belt 16; when the five-axis driven pulley 18 rotates, the reducer input shaft 19 rotates accordingly, and at this time the output end of the reducer 114 rotates, and the output end of the reducer 114 is connected to the swing shell 4, and the swing shell 4 follows the movement, that is, the swing of the five axes is realized.

As shown in Figures 2-5: The utility model relates to a sixth transmission structure 2, including a six-axis transmission shaft 21, a six-axis support bearing 22, a six-axis driving pulley 23 and a six-axis driven pulley 26, the six-axis transmission shaft 21 passes through the five-axis transmission shaft 11, a six-axis synchronous belt 25 is provided between the six-axis driving pulley 23 and the six-axis driven pulley 26, a pulley shaft 28 is provided in the six-axis driven pulley 26, one end of the pulley shaft 28 is connected to a driving bevel gear 211, the driving bevel gear 211 is gear-connected to a driven bevel gear 215, a bevel gear shaft 217 is provided in the driven bevel gear 215, the output end of the bevel gear shaft 217 is connected to a six-axis reducer 223, the output end of the six-axis reducer 223 is connected to an end flange 224, the rotation of the end flange 224 causes the six-axis to rotate, the sixth transmission structure 2 also includes a six-axis tensioning device 24, the six-axis tensioning device 24 is rotationally connected to the wrist shell 3.

A first pulley shaft support bearing 29 is disposed at one end of the pulley shaft 28 connected to the six-axis driven pulley 26 , and a second pulley shaft support bearing 210 is disposed at one end of the pulley shaft 28 connected to the active bevel gear 211 .

The sixth transmission structure 2 further includes a bevel gear adjustment seat 213 and a bevel gear bearing seat 214 , and a bevel gear retaining ring 212 is also provided on the active bevel gear 211 .

A small bevel gear retaining ring 216 is provided on the driven bevel gear 215 , and a small sleeve 219 and a large sleeve 220 are sequentially sleeved on the outside of the bevel gear shaft 217 .

Bevel gear shaft support bearings 218 are provided at both ends of the bevel gear shaft 217 . The bevel gear shaft support bearings 218 are fixed on a driven bevel gear bearing seat 222 . A driven bevel gear bearing cover 221 is provided on the driven bevel gear bearing seat 222 .

The six-axis motor is connected to the six-axis transmission shaft 21, and the six-axis transmission shaft 21 is supported in the five-axis driving pulley 12 through the six-axis support bearing 22. The six-axis driving pulley 23 is installed on the six-axis transmission shaft 21. The six-axis tensioning device 24 is installed on the wrist shell 3, and the six-axis driven pulley 26 is installed on the pulley shaft 28 through the six-axis driven pulley baffle 27. The six-axis synchronous belt 25 connects the six-axis driving pulley 23 with the six-axis driven pulley 26 through the six-axis tensioning device 24. The pulley shaft 28 is installed in the adjustment seat 213 through the first pulley shaft support bearing 29 and the second pulley shaft support bearing 210. The driving bevel gear 211 is fixed on the pulley shaft 28 through the bevel gear retaining ring 212. The adjustment seat 213 is installed in the bearing seat 214 through screws, and the bearing seat 214 is installed on the wrist shell 3, and the bearing seat 214 is supported by the bearing 115 installed in the swing shell 4. The driven bevel gear 215 is installed on the bevel gear shaft 217 through the bevel gear small retaining ring 216. The bevel gear shaft 217 is installed in the driven bevel gear bearing seat 222 through the bevel gear shaft support bearing 218, the small sleeve 219, the large sleeve 220 and the driven bevel gear bearing cover 221. The bearing seat 222 is installed in the swing housing 4 by screws.

The bevel gear shaft 217 also serves as the input shaft of the six-axis reducer 223 . The output end of the six-axis reducer 223 is connected to the end flange 224 . The six-axis reducer 223 is mounted on the swing housing 4 by screws.

Transmission principle: When the six-axis motor rotates, the six-axis transmission shaft 21 rotates, the six-axis driving pulley 23 rotates accordingly, and the six-axis driven pulley 26 rotates with the six-axis synchronous belt 25; when the six-axis driven pulley 26 rotates, the pulley shaft 28 rotates at the same time, and drives the driving bevel gear 211 installed thereon to rotate, and the driving bevel gear 211 and the driven bevel gear 215 engage with each other, thereby driving the bevel gear shaft 217 to rotate. When the bevel gear shaft 217 rotates, the six-axis reducer 223 rotates, which in turn causes the end flange 224 installed on the output shaft of the six-axis reducer 223 to rotate, thereby realizing the rotation of the six-axis.

The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model shall be based on the attached claims.

Claims (10)

1. The utility model provides an industrial robot's wrist, includes wrist shell (3) and swing shell (4), wrist shell (3) and swing shell (4) normal running fit, its characterized in that, wrist shell (3) inside is equipped with:

the fifth transmission structure (1) comprises a five-shaft transmission shaft (11), a five-shaft driving belt pulley (12) and a five-shaft driven belt pulley (18), wherein the five-shaft driving belt pulley (12) and the five-shaft driven belt pulley (18) are provided with a five-shaft synchronous belt (16), the five-shaft driven belt pulley (18) is connected with a speed reducer (114), and the swinging shell (4) is in running fit with the speed reducer (114);

Sixth transmission structure (2), including six transmission shafts (21), six supporting bearings (22), six driving pulley (23) and six driven pulleys (26), five transmission shafts (11) are passed to six transmission shafts (21), be equipped with six hold-in range (25) between six driving pulley (23) and six driven pulleys (26), be equipped with band pulley axle (28) in six driven pulleys (26), the one end of band pulley axle (28) is connected with driving bevel gear (211), driving bevel gear (211) gear connection has driven bevel gear (215), be equipped with bevel gear shaft (217) in driven bevel gear (215), six reduction gear (223) are connected to the output of bevel gear shaft (217), and terminal flange (224) are connected to the output of six reduction gear (223), and the rotation of terminal flange (224) makes six rotary motion.

2. An industrial robot wrist according to claim 1, characterized in that the five-axis driving pulley (12) is provided with a five-axis support bearing (13) and a five-axis bearing seat (14), the five-axis bearing seat (14) being connected with a forearm (15).

3. An industrial robot wrist according to claim 2, characterized in that the fifth transmission structure (1) further comprises a five-axis tensioning device (17), the five-axis tensioning device (17) is rotatably connected with the wrist housing (3), a ring buckle (170) for adjusting and fixing the five-axis synchronous belt (16) is arranged on the five-axis tensioning device (17), the sixth transmission structure (2) further comprises a six-axis tensioning device (24), and the six-axis tensioning device (24) is rotatably connected with the wrist housing (3).

4. The wrist of an industrial robot according to claim 1, wherein a reducer input shaft (19) is arranged between the five-axis driven pulley (18) and the reducer (114), an input shaft first support bearing (111) is arranged at one end of the reducer input shaft (19) connected with the five-axis driven pulley (18), an input shaft second support bearing (112) is arranged at one end of the reducer input shaft (19) connected with the reducer (114), and the input shaft first support bearing (111) and the input shaft second support bearing (112) are both arranged on a support bearing seat (113).

5. The wrist of an industrial robot according to claim 4, wherein a five-axis driven pulley baffle (110) is provided on the outer side of the five-axis driven pulley (18), and a pulley baffle (27) is provided on the outer side of the six-axis driven pulley (26).

6. An industrial robot wrist according to claim 1, characterized in that the end of the pulley shaft (28) connected to the six driven pulleys (26) is provided with a pulley shaft first support bearing (29), and the end of the pulley shaft (28) connected to the drive bevel gear (211) is provided with a pulley shaft second support bearing (210).

7. The wrist of an industrial robot according to claim 6, wherein the sixth transmission structure (2) further comprises a bevel adjustment seat (213) and a bevel bearing seat (214), the first support bearing (29) for the pulley shaft and the second support bearing (210) for the pulley shaft are mounted in the adjustment seat (213), and the drive bevel gear (211) is further provided with a bevel gear retainer ring (212).

8. The wrist of an industrial robot according to claim 1, wherein the driven bevel gear (215) is provided with a bevel gear small retainer ring (216), and the bevel gear shaft (217) is sequentially sleeved with a small sleeve (219) and a large sleeve (220).

9. The wrist of an industrial robot according to claim 8, wherein bevel gear shaft support bearings (218) are provided at both ends of the bevel gear shaft (217), the bevel gear shaft support bearings (218) are fixed on driven bevel gear bearing blocks (222), and driven bevel gear bearing caps (221) are provided on the driven bevel gear bearing blocks (222).

10. The wrist of an industrial robot according to claim 7, wherein a five-axis shell support bearing (115) is arranged between the wrist shell (3) and the swinging shell (4), and a five-axis shell oil seal (116) is arranged on the five-axis shell support bearing (115).