CN108626379B - Wrist gear transmission side clearance adjusting structure of industrial robot and using method thereof - Google Patents
Wrist gear transmission side clearance adjusting structure of industrial robot and using method thereof Download PDFInfo
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- CN108626379B CN108626379B CN201810444830.1A CN201810444830A CN108626379B CN 108626379 B CN108626379 B CN 108626379B CN 201810444830 A CN201810444830 A CN 201810444830A CN 108626379 B CN108626379 B CN 108626379B
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- bearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/123—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using electric control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/125—Adjustment of backlash during mounting or assembly of gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
- F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs
Abstract
An adjusting structure of wrist gear transmission side clearance of an industrial robot and a use method thereof. The adjustment structure includes: the output shafts of the motors I and II are distributed on the right side and the left side of the axis I in parallel, the axis II coincides with the axis of the rotary transmission shaft, and the axis III coincides with the axis of the output transmission shaft. Hypoid pinions I, II are in driving connection with motors I, II. The rotating transmission shaft is perpendicular to the output shaft of the motor I. The hypoid large gear II is in transmission connection with the hypoid small gear II. The hypoid large gear I is in transmission connection with the hypoid small gear I. The small bevel gear is in transmission connection with the large bevel gear. The rear end of the output transmission shaft is connected with the middle wrist in a rolling way. The motors I and II are fixedly installed through connection with the front ends of the connecting pieces I and II respectively. The using method of the adjusting structure comprises the following steps: adjusting the positions of the hypoid large gears I and II; the hypoid large gears I and II and the corresponding hypoid small gears I and II are subjected to backlash adjustment; and (5) adjusting the backlash of the large bevel gear and the small bevel gear.
Description
Technical Field
The invention relates to an adjusting structure of a five-six-axis side gap of an industrial robot and a using method thereof.
Background
The wrist structure of an industrial robot is relatively complex and generally comprises 3 degrees of freedom. For a 6-degree-of-freedom robot with the motors of the joints 5 and 6 arranged behind the joints 4, the arrangement mode of the motors of the shafts 5 and 6, the size of the motors and the transmission mode restrict the width of the wrist of the robot. The axis of a wrist motor of a general robot is perpendicular to the axis of a 4-joint, and a harmonic speed reducer is adopted to transmit torque. Because the motor is transversely arranged, and the cost of the harmonic speed reducer is higher, the overall width of the wrist and the cost of the robot body are increased. The hyperboloid gear transmission is used for replacing the harmonic speed reducer transmission, so that the volume can be reduced, and the cost can be effectively reduced. But the accuracy of the wrist bevel gear transmission affects the accuracy of the whole robot, so that the backlash of the gear transmission needs to be reduced as much as possible when using the bevel gear transmission structure.
Errors are inevitably generated in gear machining and mechanical assembly, adjustment of the backlash of the bevel gears is required to be achieved for obtaining high precision, and transmission precision is improved. In patent CN 101121264, FANUC does not use backlash adjustment: high machining and assembling precision requirements are required to reach the robot precision standard. Although the bevel gear backlash can be adjusted by using a gasket, the bevel gear backlash can be achieved by detecting the amount of backlash in advance and repeatedly disassembling and assembling the wrist, the backlash detection is difficult, and the repeated installation is time-consuming and labor-consuming.
There is thus a need for a simple, fast and real-time method of adjusting the backlash of a bevel gear when assembling a wrist. The ABB of the invention patent CN 101426621B provides an adjusting method on the basis: the radial position of the input pinion is adjusted, but the radial position of the input pinion has influence on the input shaft of the motor and is complex. Another adjustment method is proposed by the new pine of patent CN 107234630 a: the gear transmission side clearance is adjusted by adjusting the axial position of the hypoid large gear, but the machining precision requirement on the installation side of the alignment hypoid small gear is high, the machining and manufacturing cost is high, the overall cost of the corresponding robot is adversely affected, and the popularization and application opportunities of the corresponding robot are reduced.
Disclosure of Invention
The invention aims to provide an adjusting structure of a wrist gear transmission side gap of an industrial robot, which can drive a bevel gear to axially move by adjusting the axial position of a transmission shaft so as to adjust the side gap of an output transmission bevel gear.
The invention relates to a wrist gear transmission backlash adjusting structure of an industrial robot, which adopts the following technical scheme: the utility model provides an industrial robot's wrist gear drive backlash's adjustment structure, includes the wrist is whole, and the wrist is whole to be included right wrist, left wrist, well wrist, output transmission shaft, rotation transmission shaft, output flange, big bevel gear, bevel pinion, hypoid gear wheel I, hypoid pinion I, right wrist side cap, connecting piece I, motor I, hypoid gear wheel II, hypoid pinion II, left wrist side cap, connecting piece II, motor II. The right wrist is fixedly connected with the left wrist. The output shafts A, B of the motors I and II are parallel to each other and symmetrically distributed on the right side and the left side of the axis I, the axis II coincides with the axis of the rotating transmission shaft, the axis III coincides with the axis of the output transmission shaft, the front end of the output transmission shaft is fixedly connected with the rear end of the large bevel gear, and the front end of the output flange is fixedly connected with the rear end of the output transmission shaft. The motors I and II are positioned at the front ends of the wrist parts, the front ends of the wheel shafts of the hypoid pinions I and II are respectively connected with the rear ends of the output shafts of the motors I and II in a transmission way, and the middle ends of the wheel shafts of the hypoid pinions I and II are respectively connected with the front ends of the right wrist and the left wrist in a rolling way. The front and rear ends of the right and left wrist side covers are respectively fixedly connected with the front and rear ends of the right and left wrists. The middle parts of the right wrist side cover and the left wrist side cover are respectively provided with a right accommodating concave cavity and a left accommodating concave cavity. The rotating transmission shaft is perpendicular to the output shaft of the motor I. The left end of the rotary transmission shaft passes through the left accommodating concave cavity and then is in rolling connection with the left wrist side cover, and the right end of the rotary transmission shaft passes through the through hole in the middle wrist in the right accommodating concave cavity and then is in rolling connection with the right wrist side cover. The hypoid large gear II is positioned in the left accommodating concave cavity and is in transmission connection with the hypoid small gear II while being fixedly connected with the left end of the rotary transmission shaft. The hypoid large gear I is positioned in the right accommodating concave cavity, and is in transmission connection with the hypoid small gear I while being fixedly connected with the right end of the middle wrist. The small bevel gear is fixedly connected with the rotary transmission shaft and is in transmission connection with the large bevel gear. The rear end of the output transmission shaft is connected with the middle wrist in a rolling way. The motors I and II are fixedly installed through connection with the front ends of the connecting pieces I and II respectively.
Preferably, the middle end of the wheel shaft of the hypoid pinion I is connected with the bearing sleeve I in a matched rolling manner through the rear cone bearing I and the front cone bearing I, the bearing sleeve I is provided with a positioning convex ring I, the rear cone bearing I and the front cone bearing I are respectively arranged on the rear side and the front side of the positioning convex ring I, the bearing sleeve I is fixedly positioned through a large nut I arranged at the front end of the bearing sleeve I and the rear cone bearing I, and the inner ring of the front cone bearing I is fixedly positioned through a small nut I fixed at the front end of the inner ring of the front cone bearing I, so that the front ends of the hypoid pinion I and the right wrist are connected in a rolling manner. Similarly, the middle end of the wheel shaft of the hypoid pinion II is connected with a bearing sleeve II in a matched rolling manner through a rear cone bearing II and a front cone bearing II, a positioning convex ring II is arranged on the bearing sleeve II, the rear cone bearing II and the front cone bearing II are respectively arranged on the rear side and the front side of the positioning convex ring II, the bearing sleeve II is fixedly positioned through a large nut II arranged at the front end of the bearing sleeve II and the rear cone bearing II, and the inner ring of the front cone bearing II is fixedly positioned through a small nut II fixed at the front end of the inner ring of the front cone bearing II, so that the hypoid pinion II is connected with the front end of the left wrist in a rolling manner.
Preferably, the middle end of a wheel shaft of the hypoid pinion I is in rolling connection with a bearing sleeve I through a rear cone bearing I and a front cone bearing I in a matched mode, a positioning convex ring I is arranged on the bearing sleeve I, the rear cone bearing I and the front cone bearing I are respectively arranged on the rear side and the front side of the positioning convex ring I, the bearing sleeve I is fixedly positioned through a large nut I and the rear cone bearing I which are arranged at the front end of the bearing sleeve I, and an inner ring of the front cone bearing I is fixedly positioned through a small nut I which is fixedly arranged at the front end of the inner ring of the front cone bearing I, so that the hypoid pinion I and the hypoid large gear I are in rolling connection; similarly, the middle end of the wheel shaft of the hypoid pinion II is connected with a bearing sleeve II in a matched rolling manner through a rear cone bearing II and a front cone bearing II, a positioning convex ring II is arranged on the bearing sleeve II, the rear cone bearing II and the front cone bearing II are respectively arranged on the rear side and the front side of the positioning convex ring II, the bearing sleeve II is fixedly positioned through a large nut II arranged at the front end of the bearing sleeve II and the rear cone bearing II, and the inner ring of the front cone bearing II is fixedly positioned through a small nut II fixed at the front end of the inner ring of the front cone bearing II, so that the hypoid pinion II and the hypoid large gear II are connected in a rolling manner.
Preferably, the right end of the rotary transmission shaft is in rolling connection with the right wrist side cover through a bearing IV, and meanwhile, the right end part of the rotary transmission shaft is connected with a nut I which is used for being matched with a corresponding structure of the right wrist side cover to fix the bearing IV. The left end of the rotary transmission shaft is in rolling connection with the left wrist side cover through a bearing VIII, and meanwhile, the left end of the rotary transmission shaft is connected with a nut IV which is used for being matched with a corresponding structure of the left wrist side cover to fix the bearing VIII. The right side of the hypoid large gear II is provided with an isolation shaft shoulder; the left wrist is positioned at the left side of the bevel pinion and the right side of the isolating shaft shoulder and is connected with the rotating transmission shaft in a rolling way through a bearing VII.
Preferably, the left end and the right end of the rotary transmission shaft are respectively provided with an elastic disc spring I and an elastic disc spring II. The left end and the right end of the elastic disc spring II are respectively connected with the middle wrist and the hypoid large gear I. The left and right ends of the elastic disc spring I are respectively connected with the right side of the hypoid large gear II and the left side of the isolation shaft shoulder.
Preferably, the right end of the middle wrist is connected with the right wrist in a rolling way through a bearing III. The left end of the middle wrist is connected with the left wrist in a rolling way through a bearing II. The big bevel gear is connected with the middle wrist in a rolling way through a bearing I, and a framework oil seal is arranged at the rear end of the bearing I.
Preferably, a right wrist sealing cover is fixed on the right side of the right wrist side cover, and the right end face of the rotation transmission shaft is positioned on the left side of the right wrist side cover. The left side of the left wrist side cover is fixed with a left wrist sealing cover, and the left end face of the rotary transmission shaft is positioned on the right side of the left wrist sealing cover.
During installation, the hypoid large gear I can relatively move along the axial direction of the rotary transmission shaft in a certain small range to carry out corresponding adjustment so as to complete corresponding installation; 【2】 The hypoid large gear II can relatively move along the axial direction of the rotary transmission shaft within a certain small range by adjusting the pretightening force of the disc spring I so as to finish corresponding installation; 【3】 The hypoid large gear I can be moved in a small range along the direction of the axis II by adjusting the connecting screw of the hypoid large gear I and the middle wrist so as to finish corresponding installation; the bearing sleeve I can move in a small range along the axial direction of the axis A in the right wrist, so that the side gap between the hypoid large gear I and the hypoid small gear I is adjusted to finish corresponding installation; 【4】 The hypoid large gear II can be moved in a small range along the axis direction of the axis II by adjusting the connecting screw of the hypoid large gear II and the transmission shaft so as to finish corresponding installation; the bearing sleeve II is in threaded connection with the left wrist, and can move in a small range in the left wrist along the axial direction of the axis B, so that the side gap between the hypoid large and small gears is adjusted, and the corresponding installation is completed; 【5】 Through adjusting the nut I and the nut IV, the rotary transmission shaft can move in a small range in the axial direction of the axis II so as to finish corresponding installation; the transmission shaft is rotated to drive the bevel pinion to axially move, so that the backlash of the transmission of the bevel pinion is adjusted to finish corresponding installation.
In summary, the beneficial effects of the wrist gear transmission backlash adjustment structure of the industrial robot are that: the comprehensive wrist gear transmission backlash adjustment method is provided: the axial position of the rotary transmission shaft is adjusted to drive the bevel pinion to axially move, so that the backlash of the output transmission bevel gear is adjusted; the corresponding hypoid gear drive backlash is adjusted by changing the axial positions of the corresponding hypoid bull gear and hypoid pinion. Because the comprehensive adjustment is carried out, the disassembly is not needed, and the integral processing precision requirement and the assembly precision requirement of the part are reduced, thereby being beneficial to greatly reducing the processing and manufacturing cost and prolonging the service life.
Another object of the present invention is to provide a method for using an adjustment structure for a five-six axis backlash of an industrial robot, which adopts the following technical scheme: the application method of the wrist gear transmission side clearance adjusting structure of the industrial robot comprises the following steps:
【1】 The hypoid pinion I is arranged on an output shaft of the motor I and is arranged on a right wrist through a front cone bearing I, a rear cone bearing I and a bearing sleeve I, the motor I drives the hypoid pinion I to rotate around the shaft A, and the hypoid pinion I drives the hypoid large gear I arranged on a middle wrist to rotate; the hypoid large gear I drives the middle wrist to rotate around the axis II; the hypoid large gear I can relatively move along the axial direction of the rotary transmission shaft in a certain small range to carry out corresponding adjustment so as to finish corresponding installation;
【2】 The hypoid pinion II is arranged on an output shaft of the motor II and is arranged on a left wrist through a front cone bearing II, a rear cone bearing II and a bearing sleeve II; the motor II drives the hypoid pinion II to rotate around the axis B, and the hypoid pinion II drives the hypoid large gear II to rotate; the rotary transmission shaft transmits power to the output transmission shaft through corresponding bevel gear transmission; the output flange is rigidly connected with the output transmission shaft and rotates along with the output transmission shaft; the hypoid large gear II is arranged on the rotating transmission shaft; the hypoid large gear II can relatively move along the axial direction of the rotary transmission shaft within a certain small range by adjusting the pretightening force of the disc spring I so as to finish corresponding installation;
【3】 A butterfly spring II is arranged between the hypoid large gear I and the middle wrist; the belleville spring II can be compressed in a certain range; the hypoid large gear I can be moved in a small range along the direction of the axis II by adjusting the connecting screw of the hypoid large gear I and the middle wrist so as to finish corresponding installation; the hypoid pinion I is positioned and installed through a front cone bearing I, a rear cone bearing I, a small nut I and a bearing sleeve I; the bearing sleeve I is connected with the right wrist through threads; the bearing sleeve I can move in a small range along the axial direction of the axis A in the right wrist, so that the side gap between the hypoid large gear I and the hypoid small gear I is adjusted to finish corresponding installation;
【4】 A butterfly spring I is arranged between the hypoid large gear II and the rotating transmission shaft, and the butterfly spring I can be compressed in a certain range; the hypoid large gear II can be moved in a small range along the axis direction of the axis II by adjusting the connecting screw of the hypoid large gear II and the transmission shaft so as to finish corresponding installation; the hypoid pinion II is positioned and installed through a front cone bearing II, a rear cone bearing II, a small nut II and a bearing sleeve II; the bearing sleeve II is in threaded connection with the left wrist, and can move in a small range in the left wrist along the axial direction of the axis B, so that the side gap between the hypoid large and small gears is adjusted, and the corresponding installation is completed;
【5】 The big bevel gear is rigidly connected with the output transmission shaft, and the small bevel gear is connected with the rotation transmission shaft; through adjusting the nut I and the nut IV, the rotary transmission shaft can move in a small range in the axial direction of the axis II so as to finish corresponding installation; the transmission shaft is rotated to drive the bevel pinion to axially move, so that the backlash of the transmission of the bevel pinion is adjusted to finish corresponding installation.
By using the using method, the adjustment of the wrist gear transmission side gap can be well completed, and the adjustment aim of the adjustment structure of the wrist gear transmission side gap is fulfilled.
Drawings
Fig. 1: the structure of the invention is schematically shown;
fig. 2: a schematic diagram of an adjusting structure of the transmission between the big bevel gear and the small bevel gear;
fig. 3: schematic representation of the transmission between hypoid bull gear I and hypoid pinion I [ the transmission between hypoid bull gear II and hypoid pinion is identical to the transmission between hypoid bull gear I and hypoid pinion I, so the corresponding illustration is omitted ].
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
An embodiment of an adjustment structure for a wrist gear transmission backlash of an industrial robot:
as shown in fig. 1, 2 and 3 [ description: the upper side of fig. 1 is the right side, the lower side is the left side; the invention comprises a wrist whole 1, wherein the wrist whole 1 comprises a right wrist 2, a left wrist 3, a middle wrist 4, an output transmission shaft 5, a rotation transmission shaft 8, an output flange 9, a large bevel gear 10, a small bevel gear 11, a hypoid large gear I14, a hypoid small gear I15, a right wrist side cover 16, a connecting piece I25, a motor I26, a hypoid large gear II 30, a hypoid small gear II 31, a left wrist side cover 34, a connecting piece II 40 and a motor II 41. The right and left wrists are secured in a conventional manner not shown in detail in the figures. The output shaft A of the motor I and the output shaft B of the motor II are parallel to each other. The motor I and the motor II are symmetrically distributed on the right side and the left side of the rotating shaft I. The axis II coincides with the axis of the rotary transmission shaft, the axis III coincides with the axis of the output transmission shaft, the front end of the output transmission shaft is fixedly connected with the rear end of the big cone gear, and the front end of the output flange is fixedly connected with the rear end of the output transmission shaft. Motor I and motor II all are located the holistic front end of wrist. The front end of the wheel shaft of the hypoid pinion I is in transmission connection with the rear end of the output shaft of the motor I, and the front end of the wheel shaft of the hypoid pinion II is in transmission connection with the rear end of the output shaft of the motor II. The middle end of the wheel shaft of the hypoid pinion I is in rolling connection with the front end of the right wrist, and the middle end of the wheel shaft of the hypoid pinion II is in rolling connection with the front end of the left wrist. The front and rear ends of the right wrist side cover are fixedly connected with the front and rear ends of the wrist, and the front and rear ends of the left wrist side cover are fixedly connected with the front and rear ends of the left wrist. The middle part right side of right wrist side cap holds the cavity, and the middle part of left wrist side cap is equipped with the left side and holds the cavity. The rotating transmission shaft is perpendicular to the output shaft of the motor I. The left end of the rotary transmission shaft passes through the left accommodating concave cavity and then is in rolling connection with the left wrist side cover, and the right end of the rotary transmission shaft passes through the through hole in the middle wrist in the right accommodating concave cavity and then is in rolling connection with the right wrist side cover. The hypoid large gear II is positioned in the left accommodating concave cavity and is in transmission connection with the hypoid small gear II while being fixedly connected with the left end of the rotary transmission shaft. The hypoid large gear I is positioned in the right accommodating concave cavity, and is in transmission connection with the hypoid small gear I while being fixedly connected with the right end of the middle wrist. The small bevel gear is fixedly connected with the rotating transmission shaft and is in transmission connection with the large bevel gear, and the rear end of the output transmission shaft is in rolling connection with the middle wrist. The motor I is fixedly installed through the connection with the front end of the connecting piece I, and the motor II is fixedly installed through the connection with the front end of the connecting piece II.
As preferable:
the middle end of the wheel shaft of the hypoid pinion I15 is connected with a bearing sleeve I22 in a matched rolling way through a rear cone bearing I20 and a front cone bearing I21, a positioning convex ring I is arranged on the bearing sleeve I22, the rear cone bearing I20 and the front cone bearing I21 are respectively arranged on the rear side and the front side of the positioning convex ring I, the bearing sleeve I22 is fixedly positioned through a large nut I23 and the rear cone bearing I20 arranged at the front end of the bearing sleeve I, and the inner ring of the front cone bearing I21 is fixedly positioned through a small nut I24 fixed at the front end of the inner ring of the front cone bearing I21, so that the rolling connection of the hypoid pinion I and the hypoid large gear I is realized. Similarly, the middle end of the wheel shaft of the hypoid pinion II 31 is in matched rolling connection with a bearing sleeve II 38 through a rear cone bearing II 36 and a front cone bearing II 37, a positioning convex ring II is arranged on the bearing sleeve II 38, the rear cone bearing II 36 and the front cone bearing II 37 are respectively arranged on the rear side and the front side of the positioning convex ring II, the bearing sleeve II is in positioning fixation through a large nut II 39 and a rear cone bearing II which are arranged at the front end of the bearing sleeve II, and the inner ring of the front cone bearing II is in positioning fixation through a small nut II 42 which is fixed at the front end of the inner ring of the front cone bearing II, so that the rolling connection of the hypoid pinion II and the hypoid large gear II is realized;
the right end of the rotary transmission shaft 8 is in rolling connection with the right wrist side cover 16 through a bearing IV 17, and meanwhile, the right end part of the rotary transmission shaft 8 is connected with a nut I18 which is used for being matched with the corresponding structure of the right wrist side cover 16 to fix the bearing IV 17. The left end of the rotary transmission shaft 8 is in rolling connection with the left wrist side cover 34 through a bearing VIII 32, and meanwhile, the left end part of the rotary transmission shaft 8 is connected with a nut IV 33 which is used for being matched with the corresponding structure of the left wrist side cover 34 to fix the bearing VIII 32. The rotary transmission shaft 8 is provided with an isolating shaft shoulder on the right side of the hypoid large gear II 30. The left wrist 3 is positioned at the left side of the bevel pinion 11 and the right side of the isolating shaft shoulder and is connected with the rotary transmission shaft 8 in a rolling way through a bearing VII 27. Further, an elastic disc spring I28 is arranged at the left end of the rotary transmission shaft 8, and an elastic disc spring II 29 is arranged at the right end of the rotary transmission shaft 8. The left end of the elastic disc spring II 29 is connected with the middle wrist 4, and the right end of the elastic disc spring II 29 is connected with the hypoid large gear I14. The left end of the elastic disc spring I28 is connected with the right side of the hypoid large gear II 30, and the right end of the elastic disc spring I28 is connected with the left side of the isolation shaft shoulder;
the right end of the middle wrist 4 is connected with the right wrist 2 in a rolling way through a bearing III 13. The left end of the middle wrist 4 is connected with the left wrist 3 in a rolling way through a bearing II 12. The large bevel gear 10 is in rolling connection with the middle wrist 4 through a bearing I7, and a framework oil seal 6 is arranged at the rear end of the bearing I7;
a right wrist cover 19 is fixed on the right side of the right wrist side cover 16, a right wrist cover 19 is concaved rightward corresponding to the right end surface of the rotation transmission shaft 8, and the right end surface of the rotation transmission shaft 8 is located at the rightward concaved position on the left side of the right wrist side cover 16. A left wrist cover 35 is fixed on the left side of the left wrist side cover 34, the left wrist cover 34 is left concave at the position corresponding to the left end face of the rotary transmission shaft 8, and the left end face of the rotary transmission shaft 8 is left concave at the right side of the left wrist cover 35.
An embodiment of a using method of an adjusting structure of a wrist gear transmission side gap of an industrial robot comprises the following steps:
【1】 The hypoid pinion I is arranged on an output shaft of the motor I and is arranged on a right wrist through a front cone bearing I, a rear cone bearing I and a bearing sleeve I, the motor I drives the hypoid pinion I to rotate around the shaft A, and the hypoid pinion I drives the hypoid large gear I arranged on a middle wrist to rotate; the hypoid large gear I drives the middle wrist to rotate around the axis II; the hypoid large gear I can relatively move along the axial direction of the rotary transmission shaft in a certain small range to carry out corresponding adjustment so as to finish corresponding installation;
【2】 The hypoid pinion II is arranged on an output shaft of the motor II and is arranged on a left wrist through a front cone bearing II, a rear cone bearing II and a bearing sleeve II; the motor II drives the hypoid pinion II to rotate around the axis B, and the hypoid pinion II drives the hypoid large gear II to rotate; the rotary transmission shaft transmits power to the output transmission shaft through corresponding bevel gear transmission; the output flange is rigidly connected with the output transmission shaft and rotates along with the output transmission shaft; the hypoid large gear II is arranged on the rotating transmission shaft; the hypoid large gear II can relatively move along the axial direction of the rotary transmission shaft within a certain small range by adjusting the pretightening force of the disc spring I so as to finish corresponding installation;
【3】 A butterfly spring II is arranged between the hypoid large gear I and the middle wrist; the belleville spring II can be compressed in a certain range; the hypoid large gear I can be moved in a small range along the direction of the axis II by adjusting the connecting screw of the hypoid large gear I and the middle wrist so as to finish corresponding installation; the hypoid pinion I is positioned and installed through a front cone bearing I, a rear cone bearing I, a small nut I and a bearing sleeve I; the bearing sleeve I is connected with the right wrist through threads; the bearing sleeve I can move in a small range along the axial direction of the axis A in the right wrist, so that the side gap between the hypoid large gear I and the hypoid small gear I is adjusted to finish corresponding installation;
【4】 A butterfly spring I is arranged between the hypoid large gear II and the rotating transmission shaft, and the butterfly spring I can be compressed in a certain range; the hypoid large gear II can be moved in a small range along the axis direction of the axis II by adjusting the connecting screw of the hypoid large gear II and the transmission shaft so as to finish corresponding installation; the hypoid pinion II is positioned and installed through a front cone bearing II, a rear cone bearing II, a small nut II and a bearing sleeve II; the bearing sleeve II is in threaded connection with the left wrist, and can move in a small range in the left wrist along the axial direction of the axis B, so that the side gap between the hypoid large and small gears is adjusted, and the corresponding installation is completed;
【5】 The big bevel gear is rigidly connected with the output transmission shaft, and the small bevel gear is connected with the rotation transmission shaft; through adjusting the nut I and the nut IV, the rotary transmission shaft can move in a small range in the axial direction of the axis II so as to finish corresponding installation; the transmission shaft is rotated to drive the bevel pinion to axially move, so that the backlash of the transmission of the bevel pinion is adjusted to finish corresponding installation.
The above embodiments are merely preferred embodiments of the present invention, and are not intended to limit the specific structures and the scope of the present invention. Indeed, equivalent variations on the shape, construction and design purposes described in accordance with the present invention may be made. Therefore, all changes in shape, structure and design that come within the meaning and range of equivalency of the invention are to be embraced within their scope.
Claims (8)
1. An adjusting structure of wrist gear transmission backlash of an industrial robot is characterized in that: the wrist comprises a wrist body, wherein the wrist body comprises a right wrist, a left wrist, a middle wrist, an output transmission shaft, a rotary transmission shaft, an output flange, a large bevel gear, a small bevel gear, a hypoid large gear I, a hypoid small gear I, a right wrist side cover, a connecting piece I, a motor I, a hypoid large gear II, a hypoid small gear II, a left wrist side cover, a connecting piece II and a motor II; the right wrist is fixedly connected with the left wrist; the output shafts A, B of the motors I and II are parallel to each other and symmetrically distributed on the right side and the left side of the rotating shaft I, the axis II coincides with the axis of the rotating transmission shaft, the axis III coincides with the axis of the output transmission shaft, the front end of the output transmission shaft is connected with the rear end of the big cone gear, and the front end of the output flange is fixedly connected with the rear end of the output transmission shaft; the motors I and II are positioned at the front end of the whole wrist, and the front ends of the wheel shafts of the hypoid pinions I and II are respectively connected with the rear ends of the output shafts of the motors I and II in a transmission way; the middle ends of the wheel shafts of the hypoid pinions I and II are respectively connected with the front ends of the right wrist and the left wrist in a rolling way; the front and rear ends of the right and left wrist side covers are respectively fixedly connected with the front and rear ends of the right and left wrists; the middle parts of the right wrist side cover and the left wrist side cover are respectively provided with a right accommodating concave cavity and a left accommodating concave cavity; the rotating transmission shaft is vertical to the output shaft of the motor I; the left end of the rotary transmission shaft passes through the left accommodating concave cavity and then is in rolling connection with the left wrist side cover, and the right end of the rotary transmission shaft passes through a through hole in the middle wrist in the right accommodating concave cavity and then is in rolling connection with the right wrist side cover; the hypoid large gear II is positioned in the left accommodating concave cavity and is in transmission connection with the hypoid small gear II while being fixedly connected with the left end of the rotary transmission shaft; the hypoid large gear I is positioned in the right accommodating concave cavity, and is in transmission connection with the hypoid small gear I while being fixedly connected with the right end of the middle wrist; the small bevel gear is fixedly connected with the rotating transmission shaft and is in transmission connection with the large bevel gear, and the rear end of the output transmission shaft is in rolling connection with the middle wrist; the motors I and II are fixedly installed through connection with the front ends of the connecting pieces I and II respectively; the middle end of the wheel shaft of the hypoid pinion I (15) is connected with a bearing sleeve I (22) in a matched rolling way through a rear cone bearing I (20) and a front cone bearing I (21), and the bearing sleeve I (22) is positioned and fixed through a large nut I (23) arranged at the front end of the bearing sleeve I and the rear cone bearing I (20); similarly, the middle end of the wheel shaft of the hypoid pinion II (31) is connected with a bearing sleeve II (38) through a rear cone bearing II (36) and a front cone bearing II (37) in a matched rolling way, the bearing sleeve II is fixedly positioned through a large nut II (39) arranged at the front end of the bearing sleeve II and the rear cone bearing II, the left end of the rotary transmission shaft (8) is connected with a left wrist side cover (34) in a rolling way through a bearing VIII (32), and the left end of the rotary transmission shaft (8) is connected with a nut IV (33) which is matched with a corresponding structure of the left wrist side cover (34) to fix the bearing VIII (32).
2. The structure for adjusting the wrist gear transmission backlash of an industrial robot according to claim 1, characterized in that: the bearing sleeve I (22) is provided with a positioning convex ring I, the rear conical bearing I (20) and the front conical bearing I (21) are respectively arranged at the rear side and the front side of the positioning convex ring I, the inner ring of the front conical bearing I (21) is positioned and fixed through a small nut I (24) fixed at the front end of the inner ring of the front conical bearing I (21), and then the rolling connection of the hypoid pinion I and the hypoid large gear I is realized; the bearing sleeve II (38) is provided with a positioning convex ring II, the rear cone bearing II (36) and the front cone bearing II (37) are respectively arranged on the rear side and the front side of the positioning convex ring II, the inner ring of the front cone bearing II is fixedly positioned through a small nut II (42) fixed at the front end of the inner ring of the front cone bearing II, and then the hypoid pinion II and the hypoid large gear II are connected in a rolling way.
3. The structure for adjusting the wrist gear transmission backlash of an industrial robot according to claim 1, characterized in that: the right end of the rotary transmission shaft (8) is in rolling connection with the right wrist side cover (16) through a bearing IV (17), and meanwhile, the right end part of the rotary transmission shaft (8) is connected with a nut I (18) which is used for being matched with a corresponding structure of the right wrist side cover (16) to fix the bearing IV (17); the right side of the hypoid large gear II (30) is provided with an isolation shaft shoulder by the rotary transmission shaft (8); the left wrist (3) is positioned at the left side of the bevel pinion (11) and the right side of the isolating shaft shoulder and is connected with the rotating transmission shaft (8) in a rolling way through a bearing VII (27).
4. A wrist gear transmission backlash adjustment structure of an industrial robot according to claim 3, characterized in that: the left end and the right end of the rotary transmission shaft (8) are respectively provided with an elastic disc spring I (28) and an elastic disc spring II (29); the left end and the right end of the elastic disc spring II (29) are respectively connected with the middle wrist (4) and the hypoid large gear I (14); the left and right ends of the elastic disc spring I (28) are respectively connected with the right side of the hypoid large gear II (30) and the left side of the isolation shaft shoulder.
5. The structure for adjusting the wrist gear transmission backlash of an industrial robot according to claim 1, characterized in that: the right end of the middle wrist (4) is connected with the right wrist (2) in a rolling way through a bearing III (13); the left end of the middle wrist (4) is connected with the left wrist (3) in a rolling way through a bearing II (12); the big bevel gear (10) is connected with the middle wrist (4) in a rolling way through a bearing I (7), and a framework oil seal (6) is arranged at the rear end of the bearing I (7).
6. The structure for adjusting a wrist gear transmission backlash of an industrial robot according to any one of claims 1 to 5, characterized in that: the right wrist sealing cover (19) is fixed on the right side of the right wrist side cover (16), and the right end surface of the rotation transmission shaft (8) is positioned on the left side of the right wrist side cover (16).
7. The structure for adjusting a wrist gear transmission backlash of an industrial robot according to any one of claims 1 to 5, characterized in that: the left wrist sealing cover (35) is fixed on the left side of the left wrist side cover (34), and the left end face of the rotation transmission shaft (8) is positioned on the right side of the left wrist sealing cover (35).
8. A method of using the wrist gear transmission backlash adjustment structure for an industrial robot according to any one of claims 1 to 7, characterized in that:
(1) The hypoid pinion I is arranged on an output shaft of the motor I and is arranged on a right wrist through a front cone bearing I, a rear cone bearing I and a bearing sleeve I, the motor I drives the hypoid pinion I to rotate around the shaft A, and the hypoid pinion I drives the hypoid large gear I arranged on a middle wrist to rotate; the hypoid large gear I drives the middle wrist to rotate around the axis II; the hypoid large gear I can relatively move along the axial direction of the rotary transmission shaft in a certain small range to carry out corresponding adjustment so as to finish corresponding installation;
(2) The hypoid pinion II is arranged on an output shaft of the motor II and is arranged on a left wrist through a front cone bearing II, a rear cone bearing II and a bearing sleeve II; the motor II drives the hypoid pinion II to rotate around the axis B, and the hypoid pinion II drives the hypoid large gear II to rotate; the rotary transmission shaft transmits power to the output transmission shaft through corresponding bevel gear transmission; the output flange is rigidly connected with the output transmission shaft and rotates along with the output transmission shaft; the hypoid large gear II is arranged on the rotating transmission shaft; the hypoid large gear II can relatively move along the axial direction of the rotary transmission shaft within a certain small range by adjusting the pretightening force of the disc spring I so as to finish corresponding installation;
(3) A butterfly spring II is arranged between the hypoid large gear I and the middle wrist; the belleville spring II can be compressed in a certain range; the hypoid large gear I can be moved in a small range along the direction of the axis II by adjusting the connecting screw of the hypoid large gear I and the middle wrist so as to finish corresponding installation; the hypoid pinion I is positioned and installed through a front cone bearing I, a rear cone bearing I, a small nut I and a bearing sleeve I; the bearing sleeve I is connected with the right wrist through threads; the bearing sleeve I can move in a small range along the axial direction of the axis A in the right wrist, so that the side gap between the hypoid large gear I and the hypoid small gear I is adjusted to finish corresponding installation;
(4) A butterfly spring I is arranged between the hypoid large gear II and the rotating transmission shaft, and the butterfly spring I can be compressed in a certain range; the hypoid large gear II can be moved in a small range along the axis direction of the axis II by adjusting the connecting screw of the hypoid large gear II and the transmission shaft so as to finish corresponding installation; the hypoid pinion II is positioned and installed through a front cone bearing II, a rear cone bearing II, a small nut II and a bearing sleeve II; the bearing sleeve II is in threaded connection with the left wrist, and can move in a small range in the left wrist along the axial direction of the axis B, so that the side gap between the hypoid large and small gears is adjusted, and the corresponding installation is completed;
(5) The big bevel gear is rigidly connected with the output transmission shaft, and the small bevel gear is connected with the rotation transmission shaft; through adjusting the nut I and the nut IV, the rotary transmission shaft can move in a small range in the axial direction of the axis II so as to finish corresponding installation; the transmission shaft is rotated to drive the bevel pinion to axially move, so that the backlash of the transmission of the bevel pinion is adjusted to finish corresponding installation.
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| CN201810444830.1A CN108626379B (en) | 2018-05-10 | 2018-05-10 | Wrist gear transmission side clearance adjusting structure of industrial robot and using method thereof |
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| CN201810444830.1A CN108626379B (en) | 2018-05-10 | 2018-05-10 | Wrist gear transmission side clearance adjusting structure of industrial robot and using method thereof |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109611531A (en) * | 2018-12-27 | 2019-04-12 | 刘东刚 | A kind of hypoid gear speed reducer of adjustable clearance |
| CN109973621B (en) * | 2019-04-02 | 2021-09-21 | 重庆市綦江区祥虎齿轮有限公司 | Double-coupling clutch gear box |
| CN111872972B (en) * | 2020-07-23 | 2021-08-13 | 伯朗特机器人股份有限公司 | Gear clearance fine adjustment structure of nested joint of welding robot |
| CN113618725A (en) * | 2021-08-03 | 2021-11-09 | 西安航天精密机电研究所 | Two-degree-of-freedom transmission mechanism of explosion-proof robot |
| CN113664804A (en) * | 2021-08-18 | 2021-11-19 | 伯朗特机器人股份有限公司 | Five-axis transmission mechanism of high-precision welding robot |
| CN117366201B (en) * | 2023-12-06 | 2024-02-13 | 智道铁路设备有限公司 | Backlash adjusting and measuring device |
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