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

Wrist of industrial robot

Technical Field

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

Background

The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability.

In the prior art, the wrist of the six-axis industrial robot adopts conventional synchronous belt transmission, namely a fifth axis and a sixth axis motor are arranged in a wrist shell, belt wheels are respectively arranged on output shafts of the two motors, and the swing of the fifth axis and the rotary motion of the sixth axis of the robot are realized by adopting synchronous belt transmission. The structure is relatively simple and convenient to assemble. The disadvantage is that the motor needs to be transversely arranged in the wrist shell, and the width of the wrist shell can be increased due to the fact that the motor has a certain length, so that the arm can be more heavy and attractive.

Meanwhile, the fifth shaft and the sixth shaft are arranged in the wrist shell, so that the load at the tail end of the robot is increased, and the energy consumption of the driving shaft motor is increased.

Disclosure of Invention

In order to solve at least one technical problem in the background technology, the utility model sets the transmission structure of the fifth shaft motor and the transmission structure of the sixth shaft motor at the third joint, adopts the transmission shaft to transmit power to the wrist, and realizes the movement of the fifth shaft and the sixth shaft through the transmission of the synchronous belt.

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

Wrist shell and swing shell, wrist shell and swing shell normal running fit, the inside wrist shell is equipped with:

The fifth transmission structure comprises a five-shaft transmission shaft, a five-shaft driving belt pulley and a five-shaft driven belt pulley, wherein the five-shaft driving belt pulley and the five-shaft driven belt pulley are provided with five-shaft synchronous belts, the five-shaft driven belt pulley is connected with a speed reducer, and the swinging shell is in running fit with the speed reducer;

the sixth transmission structure comprises a six-shaft transmission shaft, a six-shaft support bearing, a six-shaft driving belt pulley and a six-shaft driven belt pulley, wherein the six-shaft transmission shaft penetrates through the five-shaft transmission shaft, a six-shaft synchronous belt is arranged between the six-shaft driving belt pulley and the six-shaft driven belt pulley, a belt wheel shaft is arranged in the six-shaft driven belt pulley, one end of the belt wheel shaft is connected with a driving bevel gear, the driving bevel gear is connected with a driven bevel gear, a bevel gear shaft is arranged in the driven bevel gear, the output end of the bevel gear shaft is connected with a six-shaft speed reducer, the output end of the six-shaft speed reducer is connected with a tail end flange, and the six-shaft rotary motion is caused by rotation of the tail end flange.

Preferably, a five-shaft supporting bearing and a five-shaft bearing seat are arranged outside the five-shaft driving belt pulley, and the five-shaft bearing seat is connected with a small arm.

Preferably, the fifth transmission structure further comprises a five-shaft tensioning device, the five-shaft tensioning device is rotatably connected with the wrist shell, a ring buckle for adjusting and fixing the five-shaft synchronous belt is arranged on the five-shaft tensioning device, and the sixth transmission structure further comprises a six-shaft tensioning device which is rotatably connected with the wrist shell.

Preferably, a speed reducer input shaft is arranged between the five-shaft driven belt pulley and the speed reducer, a first support bearing of the input shaft is arranged at one end of the speed reducer input shaft, which is connected with the speed reducer, and a second support bearing of the input shaft is arranged at one end of the speed reducer input shaft, which is connected with the speed reducer, and the first support bearing of the input shaft and the second support bearing of the input shaft are both arranged on the support bearing seat.

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

Preferably, one end of the pulley shaft connected with the six driven pulleys is provided with a pulley shaft first support bearing, and one end of the pulley shaft connected with the driving bevel gear is provided with a pulley shaft second support bearing.

Preferably, the sixth transmission structure further comprises a bevel gear adjusting seat and a bevel gear bearing seat, and the first support bearing and the second support bearing of the pulley shaft are installed on the driving bevel gear in the adjusting seat and are further provided with a bevel gear check ring.

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

Preferably, bevel gear shaft support bearings are arranged at two ends of the bevel gear shaft, the bevel gear shaft support bearings are fixed on driven bevel gear bearing seats, and driven bevel gear bearing covers are arranged on the driven bevel gear bearing seats.

Preferably, a five-shaft shell supporting bearing is arranged between the wrist shell and the swing shell, and a five-shaft shell oil seal is arranged on the five-shaft shell supporting bearing.

The beneficial effects brought by the invention are as follows:

Firstly, 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 nested mode, and meanwhile, the transmission direction of the synchronous belt is changed, the tightness degree is adjusted through the five-shaft tensioning device and the six-shaft tensioning device, and the whole volume is reduced after structural optimization.

Secondly, the fifth shaft motor and the sixth shaft motor both adopt a transmission structure of a synchronous belt to drive each driven belt wheel, and then adopt a transmission structure of the synchronous belt, so that the width of the wrist shell and the weight of the end load can be effectively reduced, the structural reliability is high, the processing and manufacturing cost is low, and the assembly is convenient.

These features and advantages of the present utility model will be disclosed in detail in the following detailed description and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the utility model and are not to be construed as unduly limiting the utility model.

Fig. 1 is a schematic diagram of the overall structure of a wrist of an industrial robot according to the present utility model.

Fig. 2 is a schematic diagram of the internal transmission of the wrist of the industrial robot provided by the utility model.

Fig. 3 is a schematic structural view of a five-axis tensioning device of an industrial robot.

Fig. 4 is a schematic view of a cross section of a wrist of an industrial robot according to the present utility model in a vertical direction.

Fig. 5 is a schematic view of a horizontal cross section of a wrist of an industrial robot according to the present utility model.

In the figure: the fifth shaft transmission 1 comprises a fifth shaft transmission shaft 11, a fifth shaft driving belt pulley 12, a fifth shaft supporting bearing 13, a fifth shaft bearing seat 14, a small arm 15, a fifth shaft synchronous belt 16, a fifth shaft tensioning device 17, a fifth shaft driven belt pulley 18, a speed reducer input shaft 19, a fifth shaft driven belt pulley baffle 110, an input shaft first supporting bearing 111, an input shaft second supporting bearing 112, a supporting bearing seat 113, a speed reducer 114, a fifth shaft shell supporting bearing 115 and a fifth 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, a six-shaft tensioning device 24, a six-shaft timing belt 25, a six-shaft driven pulley 26, a six-shaft driven pulley baffle 27, a pulley shaft 28, a pulley shaft first support bearing 29, a pulley shaft second support bearing 210, a drive bevel gear 211, a bevel gear retainer 212, a bevel gear adjustment seat 213, a bevel gear bearing seat 214, a driven bevel gear 215, a bevel gear small retainer 216, a bevel gear shaft 217, a bevel gear shaft support bearing 218, a small sleeve 219, a large sleeve 220, a driven bevel gear bearing cover 221, a driven bevel gear bearing seat 222, a six-shaft speed reducer 223, a tip flange 224, a wrist housing 3, and a swing housing 4.

Detailed Description

The technical solutions of the embodiments of the present utility model will be explained and illustrated below with reference to the drawings of the embodiments of the present utility model, but the following embodiments are only preferred embodiments of the present utility model, and not all embodiments. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Embodiment one:

As shown in fig. 1-5:

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

As shown in fig. 1: the wrist of the industrial robot comprises a wrist shell 3 and a swinging shell 4, wherein the wrist shell 3 and the swinging shell 4 are in running fit, a five-axis shell supporting 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 supporting bearing 115.

The wrist shell 3 is internally provided with a fifth transmission structure 1 and a sixth transmission structure 2. The transmission structure of the fifth shaft motor and the transmission structure of the sixth shaft motor are arranged at the third joint, and power is transmitted to the wrist through the five-shaft transmission shaft and the six-shaft transmission shaft, so that the overall size is reduced after the structure is optimized.

The utility model relates to a fifth transmission structure 1, which 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 a swinging shell 4 is in running fit with the speed reducer 114;

The five-axis driving pulley 12 is provided with a five-axis supporting 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 further comprises a five-axis tensioning device 17, the five-axis tensioning device 17 is rotatably connected with the wrist shell 3, and a ring buckle 170 for adjusting and fixing the five-axis synchronous belt 16 is arranged on the five-axis tensioning device 17. The fifth shaft motor and the sixth shaft motor both adopt a transmission structure of a synchronous belt to drive each driven belt wheel, and then adopt a transmission structure of the synchronous belt, so that the width of the wrist shell and the weight of the end load can be effectively reduced, the structural reliability is high, the processing and manufacturing cost is low, and the assembly is convenient.

As shown in fig. 2-5: a reducer input shaft 19 is arranged between the five-shaft driven belt wheel 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-shaft driven belt wheel 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.

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

The five-axis motor is connected with a five-axis transmission shaft 11, a five-axis driving belt pulley 12 is arranged on the five-axis transmission shaft 11, the five-axis driving belt pulley 12 is fixed through a five-axis supporting bearing 13, the five-axis supporting bearing 13 is arranged on a bearing seat 14, and the five-axis bearing seat 14 is fixed on a forearm 15. A five-axis tensioner 17 is mounted on the wrist housing 3 and a five-axis driven pulley 18 is mounted on a reducer input shaft 19 through a pulley stop 110. The five-axis timing belt 16 connects the five-axis driving pulley 12 with the five-axis driven pulley 18 through the five-axis tensioner 17.

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

The transmission principle is as follows: when the five-axis motor rotates, the five-axis transmission shaft 11 rotates, the five-axis driving belt pulley 12 rotates along with the rotation, and the five-axis driven belt pulley 18 rotates along with the rotation through the five-axis synchronous belt 16; when the five-axis driven belt wheel 18 rotates, the input shaft 19 of the speed reducer rotates along with the rotation, at the moment, the output end of the speed reducer 114 rotates, and the output end of the speed reducer 114 is connected with the swinging shell 4, and the swinging shell 4 moves along with the movement, namely the five-axis swinging is realized.

As shown in fig. 2-5: the utility model relates to a sixth transmission structure 2, which comprises a six-shaft transmission shaft 21, a six-shaft support bearing 22, a six-shaft driving belt pulley 23 and a six-shaft driven belt pulley 26, wherein the six-shaft transmission shaft 21 penetrates through a five-shaft transmission shaft 11, a six-shaft synchronous belt 25 is arranged between the six-shaft driving belt pulley 23 and the six-shaft driven belt pulley 26, a belt wheel shaft 28 is arranged in the six-shaft driven belt pulley 26, one end of the belt wheel shaft 28 is connected with a driving bevel gear 211, the driving bevel gear 211 is connected with a driven bevel gear 215, a bevel gear shaft 217 is arranged in the driven bevel gear 215, the output end of the bevel gear shaft 217 is connected with a six-shaft reducer 223, the output end of the six-shaft reducer 223 is connected with an end flange 224, and the six-shaft tensioner 24 is rotationally connected with a wrist shell 3 by rotation of the end flange 224.

One end of the pulley shaft 28 connected with the six-axis driven pulley 26 is provided with a pulley shaft first support bearing 29, and one end of the pulley shaft 28 connected with the drive bevel gear 211 is provided with a pulley shaft second support bearing 210.

The sixth transmission structure 2 further comprises a bevel gear adjusting seat 213) and a bevel gear bearing seat 214, and the drive bevel gear 211 is further provided with a bevel gear retainer 212.

The driven bevel gear 215 is provided with a bevel gear small retainer ring 216, and a small sleeve 219 and a large sleeve 220 are sleeved outside the bevel gear shaft 217 in sequence.

Bevel gear shaft supporting bearings 218 are arranged at two ends of the bevel gear shaft 217, the bevel gear shaft supporting bearings 218 are fixed on driven bevel gear bearing seats 222, and driven bevel gear bearing covers 221 are arranged on the driven bevel gear bearing seats 222.

The six-axis motor is connected to a six-axis drive shaft 21, and the six-axis drive shaft 21 is supported in the five-axis drive pulley 12 through a six-axis support bearing 22. A six-axis drive pulley 23 is mounted on the six-axis drive shaft 21. A six-axis tensioner 24 is mounted on the wrist housing 3 and a six-axis driven pulley 26 is mounted on a pulley shaft 28 by a six-axis driven pulley baffle 27. The six-axis timing 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 mounted in the adjustment seat 213 through the pulley shaft first support bearing 29 and the pulley shaft second support bearing 210. The drive bevel gear 211 is fixed to the pulley shaft 28 by a bevel gear retainer 212. The adjustment seat 213 is mounted in the bearing housing 214 by screws, the bearing housing 214 is mounted on the wrist housing 3, and the bearing housing 214 is supported by the bearing 115 mounted in the swing housing 4. The driven bevel gear 215 is mounted on the bevel gear shaft 217 through the bevel gear small collar 216, the bevel gear shaft 217 is mounted in the driven bevel gear bearing housing 222 through the bevel gear shaft support bearing 218, the small sleeve 219, the large sleeve 220 and the driven bevel gear bearing cap 221, and the bearing housing 222 is mounted in the swing case 4 through screws.

The bevel gear shaft 217 is simultaneously used as an input shaft of the six-shaft speed reducer 223, the output end of the six-shaft speed reducer 223 is connected with the end flange 224, and the six-shaft speed reducer 223 is mounted on the swinging shell 4 through screws.

The transmission principle is as follows: when the six-axis motor rotates, the six-axis transmission shaft 21 rotates, the six-axis driving belt pulley 23 rotates along with the six-axis transmission shaft, and the six-axis driven belt pulley 26 rotates along with the six-axis driving belt pulley through the six-axis synchronous belt 25; when the six-axis driven pulley 26 rotates, the pulley shaft 28 simultaneously rotates and simultaneously drives the drive bevel gear 211 mounted thereon to rotate, and the drive bevel gear 211 and the driven bevel gear 215 perform meshing motion, thereby driving the bevel gear shaft 217 to rotate. When the bevel gear shaft 217 rotates, the six-axis decelerator 223 rotates, and thus the end flange 224 mounted on the output shaft of the six-axis decelerator 223 is caused to rotate, i.e., a six-axis rotational movement is achieved.

The foregoing examples illustrate only a few embodiments of the utility model and are described in detail herein without thereby limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of the utility model should be assessed as that of the appended 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).