CN113771020A - Be applied to industrial robot's forearm - Google Patents
Be applied to industrial robot's forearm Download PDFInfo
- Publication number
- CN113771020A CN113771020A CN202111027345.2A CN202111027345A CN113771020A CN 113771020 A CN113771020 A CN 113771020A CN 202111027345 A CN202111027345 A CN 202111027345A CN 113771020 A CN113771020 A CN 113771020A
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- transmission shaft
- forearm
- bevel gear
- rear end
- shaft
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- 210000000245 forearm Anatomy 0.000 title claims abstract description 164
- 230000005540 biological transmission Effects 0.000 claims abstract description 338
- 210000000707 wrist Anatomy 0.000 claims abstract description 20
- 208000032369 Primary transmission Diseases 0.000 claims abstract description 7
- 208000032370 Secondary transmission Diseases 0.000 claims abstract description 7
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 238000010030 laminating Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 32
- 238000007789 sealing Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a small arm applied to an industrial robot, which comprises a small arm shell, a primary transmission shaft, a secondary transmission shaft and a tertiary transmission shaft, wherein the primary transmission shaft, the secondary transmission shaft and the tertiary transmission shaft are arranged in the small arm shell; the transmission shafts at all levels are mutually sleeved, the transmission shafts at all levels independently run, the length of the first-level transmission shaft is greater than that of the second-level transmission shaft, the length of the second-level transmission shaft is greater than that of the third-level transmission shaft, the length of the third-level transmission shaft is greater than that of the forearm shell, and the two ends of each transmission shaft are respectively provided with a driven wheel used for connecting a driving motor and a driving wheel used for driving a wrist. The mechanical transmission structure of the forearm can realize that the three motors of the wrist are arranged in a space far away from the wrist, effectively reduce the volume and weight of the wrist and improve the flexibility and the application range of the robot. The small arm is very compact in structure and relatively simple to assemble, three motions are of a coaxial transmission structure, and the robot with the transmission structure is very suitable for the application fields of spraying, welding and the like.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a small arm applied to an industrial robot.
Background
In a common industrial robot wrist structure, the wrist volume is relatively large, because two motors are installed in most wrists, the wrist volume and weight are increased invisibly, and the flexibility of the robot wrist is further influenced, especially when the robot wrist works in a relatively narrow space, the influence is large, and the application space of the robot is limited.
Disclosure of Invention
In view of this, the present invention is directed to a forearm for an industrial robot, so as to implement the arrangement of three joint motors for the movement of a wrist of the robot at a distal end of the wrist, thereby greatly reducing the volume of the wrist of the robot, reducing the weight of the wrist, and improving the flexibility and the application range of the robot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a small arm applied to an industrial robot comprises a small arm shell, a primary transmission shaft, a secondary transmission shaft and a tertiary transmission shaft, wherein the primary transmission shaft, the secondary transmission shaft and the tertiary transmission shaft are arranged in the small arm shell;
the transmission shafts at all levels are mutually sleeved, the transmission shafts at all levels independently run, the length of the first-level transmission shaft is greater than that of the second-level transmission shaft, the length of the second-level transmission shaft is greater than that of the third-level transmission shaft, the length of the third-level transmission shaft is greater than that of the forearm shell, and the two ends of each transmission shaft are respectively provided with a driven wheel used for connecting a driving motor and a driving wheel used for driving a wrist.
Further, the primary transmission shaft is a J6 small arm transmission shaft, the secondary transmission shaft is a J5 small arm transmission shaft, the tertiary transmission shaft is a J4 small arm transmission shaft, the driven wheel comprises a J4 input gear and a J5 input gear, the driving wheel comprises a J4 large bevel gear, a J5 bevel gear and a J6 small bevel gear, the J6 small bevel gear is arranged at one end of the J6 small arm transmission shaft, the other end of the J6 small arm transmission shaft is connected with the motor, the J5 bevel gear is arranged at one end of the J5 small arm transmission shaft, the J5 input gear is arranged at the other end of the J5 small arm transmission shaft, the J4 large bevel gear is arranged at one end of the J4 small arm transmission shaft, and the J4 input gear is arranged at the other end of the J4 small arm transmission shaft;
the diameter of the J4 big bevel gear is larger than that of the J5 bevel gear, the diameter of the J5 bevel gear is larger than that of the J6 small bevel gear, the J5 bevel gear is positioned between the J6 small bevel gear and the J4 big bevel gear, and the J4 big bevel gear is close to one end of the small arm shell.
Further, the J4 input wheel passes through the bolt fastening in J4 forearm transmission shaft one end, install J4 forearm transmission shaft bearing between J4 forearm transmission shaft one end and the forearm shell, first oil blanket, be equipped with first annular arch on the inner wall of forearm shell one end, still run through first oil blanket after the one end of J4 forearm transmission shaft runs through first annular arch in proper order, J4 forearm transmission shaft bearing, J4 forearm transmission shaft one end is equipped with the second annular arch, the one end and the protruding laminating of second annular of J4 forearm transmission shaft bearing.
Furthermore, the J4 big bevel gear is installed at the other end of the J4 forearm transmission shaft through the J4 rear end transmission shaft, the J4 rear end transmission shaft is barrel-shaped, the J4 rear end transmission shaft is buckled at the other end of the J4 forearm transmission shaft, the bottom of the J4 rear end transmission shaft is fixed at the end of the J4 forearm transmission shaft through a bolt, a J4 rear end transmission shaft bearing, a second oil seal and a J4 shaft retaining ring are installed between the other end of the J4 rear end transmission shaft and the forearm shell, a third annular bulge is arranged in the forearm shell, the second oil seal is installed adjacent to the third annular bulge, the J4 forearm transmission shaft penetrates through the third annular bulge and then sequentially penetrates through the J4 rear end transmission shaft bearing and the J4 shaft retaining ring, the bottom of the J4 rear end transmission shaft bearing abuts against the third annular bulge, one end of the J4 rear end transmission shaft bearing abuts against the end face of the second oil seal, and the J4 shaft bearing abuts against the J4 rear end transmission shaft bearing through the J4 shaft retaining ring;
a J4 shaft adjusting shim is arranged between the J4 large bevel gear and a J4 rear end transmission shaft.
Further, a J5 input wheel is fixed at one end of a J5 forearm transmission shaft through a bolt, a J5 forearm transmission shaft bearing is installed between one end of the J5 forearm transmission shaft and the J4 forearm transmission shaft, and a J4 gear spacer bush is installed between the J5 input wheel and the J4 input wheel.
Furthermore, a J5 bevel gear is arranged at the other end of the J5 forearm transmission shaft through a J5 rear end transmission shaft and a J5 gear connecting shaft, the J5 rear end transmission shaft is barrel-shaped, the J5 rear end transmission shaft is buckled at the other end of the J5 forearm transmission shaft, one end of the J5 gear connecting shaft is fixed at one end of the J5 rear end transmission shaft through a bolt, and a J5 bevel gear is fixed at the other end of the J5 gear connecting shaft through a J5 bevel gear fixing screw.
Further, a third oil seal is arranged between the other end of the J5 small arm transmission shaft and the J4 small arm transmission shaft.
Further, a J5 shaft gear bearing and a J5 shaft adjusting shim are arranged between the J5 bevel gear and the J4 large bevel gear.
Furthermore, a fourth oil seal is installed between one end of the J6 forearm transmission shaft and the J5 forearm transmission shaft, a J6 transmission shaft bearing seat is installed at one end of the J6 forearm transmission shaft, a J6 forearm transmission shaft bearing is installed between the J6 forearm transmission shaft and the J6 transmission shaft bearing seat, a J6 transmission shaft check ring is installed at one end of the J6 transmission shaft bearing seat, a transmission check ring group comprises a J6 transmission shaft outer check ring and a J6 transmission shaft inner check ring, the J6 transmission shaft outer check ring is fixed on the J6 transmission shaft bearing seat through bolts, the J6 transmission shaft inner check ring is fixed on the J6 forearm transmission shaft through bolts, and one end of the J6 forearm transmission shaft penetrates through the J6 transmission shaft check ring and then is connected with the motor.
Furthermore, the J6 bevel pinion is installed at the other end of the J6 bevel pinion shaft through the J6 rear end transmission shaft, the J6 rear end transmission shaft is T-shaped, one end of the J6 rear end transmission shaft is buckled at the other end of the J6 bevel pinion shaft, the other end of the J6 rear end transmission shaft extends to the end face of the J6 bevel pinion, the J6 rear end transmission shaft is fixed at the end of the J6 bevel pinion shaft through a J6 bevel pinion fixing screw, a J6 bevel pinion bearing and a J6 bevel pinion adjusting gasket are installed between the J6 bevel pinion and the J5 bevel pinion.
Compared with the prior art, the small arm applied to the industrial robot has the following advantages:
(1) according to the forearm applied to the industrial robot, the mechanical transmission structure of the forearm can realize that three motors of the wrist are arranged in a space far away from the wrist, so that the size and the weight of the wrist can be effectively reduced, and the flexibility and the application range of the robot are improved. The small arm is very compact in structure and relatively simple to assemble, three motions are of a coaxial transmission structure, and the robot with the transmission structure is very suitable for the application fields of spraying, welding and the like.
(2) The small arm applied to the industrial robot is characterized in that a J4 small arm transmission shaft, a J5 small arm transmission shaft and a J6 small arm transmission shaft are in coaxial transmission, namely the rotation centers are the same, and the small arm transmission shaft and the J6 small arm transmission shaft rotate mutually and are supported by bearings, and the small arm transmission shaft and the J5 small arm transmission shaft do not influence each other and are independent of each other during rotation.
(3) The small arm applied to the industrial robot is provided with related sealing parts such as an O-shaped ring, an oil seal, a sealing ring and the like in the transmission structure, so that lubricating oil of transmission parts such as gears and the like cannot leak; and an adjusting gasket is arranged between the gears, so that the gear clearance is conveniently adjusted to ensure the transmission precision.
(4) The small arm applied to the industrial robot is very compact in installation of a J6 small bevel gear, a J5 bevel gear and a J4 large bevel gear, and the divided cones of the small bevel gear, the J5 bevel gear and the large bevel gear are collinear.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. In the drawings:
fig. 1 is a schematic cross-sectional structural view of a small arm applied to an industrial robot according to an embodiment of the present invention;
fig. 2 is a schematic side view of a small arm applied to an industrial robot according to an embodiment of the present invention.
Description of reference numerals:
1. a forearm housing; 2. j6 shaft bearing retainer ring; 3. j6 propeller shaft bearing seat; 4. j5 input gear; 5. j4 input gear; 6. j6 bevel pinion; 7. j5 bevel gear; 8. j4 large bevel gear; 9. j4 rear end propeller shaft bearing; 10. j4 rear drive shaft; 11. j6 bevel pinion adjustment shim; 12. j6 bevel pinion bearings; 13. j6 rear drive shaft; 14. j6 axle gear spacer; 15. j6 bevel gear set screws; 16. j5 axle adjustment shim; 17. j5 shaft gear bearing; 18. j5 gear connecting shaft; 19. j4 axle adjustment shim; 20. j5 rear drive shaft; 21. j4 shaft retainer ring; 22. j4 small arm drive shaft bearing; 23. j5 small arm drive shaft; 24. j6 driveshaft stop ring; 25. j6 small arm drive shaft; 26. j6 small arm drive shaft bearing; 27. j4 gear spacer bush; 28. j5 small arm drive shaft bearing; 29. j4 small arm drive shaft; 101. a first annular projection; 102. a third annular projection; 241. j6 inner retainer ring of transmission shaft; 242. j6 external retainer ring of transmission shaft; 231. a third oil seal; 251. a fourth oil seal; 252. a fifth oil seal; 291. a first oil seal; 292. a second oil seal; 293. a second annular protrusion.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention will be described in detail with reference to the following embodiments with reference to the attached drawings.
As shown in fig. 1 to 2, a forearm applied to an industrial robot includes a forearm housing 1, a primary drive shaft, a secondary drive shaft, a tertiary drive shaft installed in the forearm housing 1;
the transmission shafts at all levels are mutually sleeved, the transmission shafts at all levels independently run, the length of the first-level transmission shaft is greater than that of the second-level transmission shaft, the length of the second-level transmission shaft is greater than that of the third-level transmission shaft, the length of the third-level transmission shaft is greater than that of the forearm shell 1, and driven wheels used for driving a motor to connect and driving wheels used for driving a wrist are respectively installed at two ends of each transmission shaft.
The primary transmission shaft is a J6 small arm transmission shaft 25, the secondary transmission shaft is a J5 small arm transmission shaft 23, the tertiary transmission shaft is a J4 small arm transmission shaft 29, the driven wheel comprises a J4 input gear 5 and a J5 input gear 4, the driving wheel comprises a J4 large bevel gear 8, a J5 bevel gear 7 and a J6 small bevel gear 6, the J6 small bevel gear 6 is installed at one end of the J6 small arm transmission shaft 25, the other end of the J6 small arm transmission shaft 25 is connected with a motor, the J5 bevel gear 7 is installed at one end of the J5 small arm transmission shaft 23, the J5 input gear 4 is installed at the other end of the J5 small arm transmission shaft 23, the J4 large bevel gear 8 is installed at one end of the J4 small arm transmission shaft 29, and the J4 input gear 5 is installed at the other end of the J4 small arm transmission shaft 29;
the diameter of the J4 big bevel gear 8 is larger than that of the J5 bevel gear, the diameter of the J5 bevel gear is larger than that of the J6 small bevel gear 6, the J5 bevel gear is positioned between the J6 small bevel gear 6 and the J4 big bevel gear 8, and the J4 big bevel gear 8 is close to one end of the small arm shell 1;
the J4 input wheel is fixed at one end of a J4 forearm transmission shaft 29 through a bolt, a J4 forearm transmission shaft 29 bearing 22 and a first oil seal 291 are installed between one end of the J4 forearm transmission shaft 29 and the forearm shell 1, a first annular bulge 101 is arranged on the inner wall of one end of the forearm shell 1, one end of the J4 forearm transmission shaft 29 penetrates through the first annular bulge 101 and then sequentially penetrates through the first oil seal 291 and the J4 forearm transmission shaft 29 bearing 22, a second annular bulge 293 is arranged at one end of the J4 forearm transmission shaft 29, and one end of the J4 forearm transmission shaft 29 bearing 22 is attached to the second annular bulge 293;
when the bearing 22 and the first oil seal 291 of the J4 forearm transmission shaft 29 are limited at one end of the J4 forearm transmission shaft 29 by the matching of the second annular bulge 293 at one end of the J4 forearm transmission shaft 29 and the first annular bulge 101 of the forearm shell 1.
The J4 big bevel gear 8 is arranged at the other end of the J4 forearm transmission shaft 29 through the J4 rear end transmission shaft 10, the J4 rear end transmission shaft 10 is barrel-shaped, the J4 rear end transmission shaft 10 is buckled at the other end of the J4 forearm transmission shaft 29, the bottom of the J4 rear end transmission shaft 10 is fixed at the end of the J4 forearm transmission shaft 29 through bolts, a J4 rear end transmission shaft 10 bearing 9 and a second oil seal 292 are arranged between the other end of the J4 rear end transmission shaft 10 and the forearm shell 1, a J4 shaft retainer 21, a third annular bulge 102 is arranged in the forearm housing 1, a second oil seal 292 is mounted close to the third annular bulge 102, a J4 forearm transmission shaft 29 penetrates through the third annular bulge 102 and then sequentially penetrates through a J4 rear end transmission shaft 10 bearing 9 and a J4 shaft retainer 21, the bottom of a J4 rear end transmission shaft 10 is propped against the third annular bulge 102, one end of a J4 rear end transmission shaft 10 bearing 9 is propped against the end surface of the second oil seal 292, and a J4 shaft retainer 21 is propped against a J4 rear end transmission shaft 10 bearing 9;
a J4 shaft adjusting shim 19 is arranged between the J4 big bevel gear 8 and the J4 rear end transmission shaft 10.
The J4 axle adjusting shim 19 facilitates adjusting gear backlash to ensure drive accuracy.
The bearing 9 and the second oil seal 292 of the J4 rear end transmission shaft 10 are limited between the rear end transmission shaft 4 and the small arm shell 1 through the third annular bulge 102 and the J4 shaft retainer ring 21, oil seals are symmetrically arranged between the J4 small arm transmission shaft 29 and two ends of the small arm shell 1, and the J4 small arm transmission shaft 29 and the small arm shell 1 are sealed;
the J4 small arm transmission shaft 29 bearing 22 and the J4 rear end transmission shaft 10 bearing 9 are respectively arranged at two ends of the J4 small arm transmission shaft 29 and matched with each other, so that the J4 small arm transmission shaft 29 can rotate in the small arm shell 1.
The J5 input wheel is fixed at one end of a J5 forearm transmission shaft 23 through a bolt, a J5 forearm transmission shaft bearing 28 is arranged between one end of the J5 forearm transmission shaft 23 and a J4 forearm transmission shaft 29, and a J4 gear spacer 27 is arranged between the J5 input wheel and the J4 input wheel;
two J5 forearm propeller shaft bearings 28 are provided, two J5 forearm propeller shaft bearings 28 are arranged in a vertical row, the bulge of the J4 input gear 5 is pressed against the outer shaft of the upper J5 forearm propeller shaft bearing 28, and the bulge of the J5 input gear 4 is pressed against the inner shaft of the upper J5 forearm propeller shaft bearing 28, so that the J4 input gear 5 and the J5 input gear 4 can move respectively.
One end of the J5 small arm transmission shaft 23 penetrates through the J4 small arm transmission shaft 29 and then extends into the connecting part of the J4 input gear 5, the connecting part of the J5 input gear extends into the through hole of the J4 input gear 5, and the J4 gear spacer 27 can be used for reducing friction between the J5 input gear 4 and the J4 input gear 5.
The J5 bevel gear 7 is arranged at the other end of the J5 forearm transmission shaft 23 through a J5 rear end transmission shaft 20 and a J5 gear connecting shaft 18, the J5 rear end transmission shaft 20 is barrel-shaped, the J5 rear end transmission shaft 20 is buckled at the other end of the J5 forearm transmission shaft 23, one end of the J5 gear connecting shaft 18 is fixed at one end of the J5 rear end transmission shaft 20 through a bolt, and the J5 bevel gear 7 is fixed at the other end of the J5 gear connecting shaft 18 through a J5 bevel gear 7 fixing screw.
A third oil seal 231 is arranged between the other end of the J5 small arm transmission shaft 23 and the J4 small arm transmission shaft 29.
The two ends of the J5 forearm transmission shaft 23 respectively penetrate through the J4 forearm transmission shaft 29 and parts arranged at the two ends of the J4 forearm transmission shaft 29, the outer wall of one end of the J5 forearm transmission shaft 23 and one end of the J4 forearm transmission shaft 29 are provided with a J5 forearm transmission shaft bearing 28, and the third oil seal 231 arranged between the other end of the J5 forearm transmission shaft 23 and the J4 forearm transmission shaft 29 is a rotatable oil seal, so that the rotatable third oil seal 231 is mutually matched with the J5 forearm transmission shaft bearing 28, and the independent rotation between the J5 forearm transmission shaft 23 and the J4 forearm transmission shaft 29 can be realized;
a J5 shaft gear bearing 17 and a J5 shaft adjusting shim 16 are arranged between the J5 bevel gear 7 and the J4 large bevel gear 8;
as can be seen, the edge of the large bevel gear 8 of J4 is against the outer shaft of the shaft bearing 17 of J5, the shaft adjusting shim 16 of J5 is on the inner shaft of the shaft bearing 17 of J5, and the edge of the bevel gear 7 of J5 is pressed against the shaft adjusting shim 16 of J5, which facilitates the respective rotation between the bevel gear 7 of J5 and the large gear of J4.
A fourth oil seal 251 is installed between one end of the J6 forearm transmission shaft 25 and the J5 forearm transmission shaft 23, a J6 transmission shaft bearing seat 3 is installed at one end of the J6 forearm transmission shaft 25, a J6 forearm transmission shaft bearing 26 is installed between the J6 forearm transmission shaft 25 and the J6 transmission shaft bearing seat 3, a J6 transmission shaft retainer ring 24 is installed at one end of the J6 transmission shaft bearing seat 3, a transmission retainer ring group comprises a J6 transmission shaft outer retainer ring 242 (equivalent to the J6 shaft bearing retainer ring 2 in FIG. 1) and a J6 transmission shaft inner retainer ring 241, the J6 transmission shaft outer retainer ring 242 is fixed on the J6 transmission shaft bearing seat 3 through bolts, the J6 transmission shaft inner retainer ring 241 is fixed on the J6 forearm transmission shaft 25 through bolts, and one end of the J6 forearm transmission shaft 25 penetrates through the J6 transmission shaft retainer ring 24 and then is connected with the motor.
The number of the J6 forearm transmission shaft bearings 26 is two, two J6 forearm transmission shafts 25 are arranged in a row from top to bottom, the outer shaft bottom end of the lower J6 forearm transmission shaft bearing 26 is abutted against the bottom convex edge of the J6 transmission shaft bearing seat 3, the inner J6 transmission shaft check ring 241 is abutted against the inner shaft of the upper J6 forearm transmission shaft bearing 26, the outer J6 transmission shaft check ring 242 is abutted against the outer shaft of the upper J6 forearm transmission shaft bearing 26, when the J6 forearm transmission shaft 25 is driven by a motor, the J6 forearm transmission shaft 25 drives the inner shafts of the two J6 forearm transmission shaft bearings 26 to rotate when rotating, the outer shaft does not rotate, accordingly, the J6 forearm transmission shaft 25 can rotate, and the other forearm transmission shafts do not rotate.
The J6 bevel pinion 6 is installed at the other end of the J6 bevel pinion shaft 25 through the J6 rear end transmission shaft 13, a J6 shaft gear gasket is further installed between the J6 bevel pinion 6 and the J6 rear end transmission shaft 13, the J6 rear end transmission shaft 13 is T-shaped, one end of the J6 rear end transmission shaft 13 is buckled at the other end of the J6 bevel pinion shaft 25, the other end of the J6 rear end transmission shaft 13 extends to the end face of the J6 bevel pinion 6, the J6 rear end transmission shaft 13 is fixed at the end of the J6 bevel pinion shaft 25 through a J6 bevel pinion fixing screw 15, a J6 bevel pinion 6 bearing and a J6 bevel pinion 6 adjusting gasket are installed between the J6 bevel pinion 6 and the J5 bevel gear 7.
The bottom of an adjusting shim of the J6 bevel pinion 6 is abutted against a boss protruding from the inside of the J5 bevel gear 7 and used for adjusting gear clearance to ensure transmission precision, the top of an outer shaft of the J6 bevel pinion 6 is abutted against a boss protruding from the top of the J5 bevel gear 7, and the top of an inner shaft of the J6 bevel pinion 6 is abutted against a boss protruding from the bottom of the J6 bevel pinion 6, so that the J6 bevel pinion 6 and the J5 bevel gear 7 can rotate respectively.
The first oil seal, the second oil seal, the third oil seal, the fourth oil seal and the fifth oil seal are all rotatable oil seals.
The specific embodiment is as follows:
the J4 input gear 5 is installed on one end of the J4 forearm transmission shaft 29 through a screw, and two J5 forearm transmission shaft bearings 28 are fixed in corresponding holes of the J4 forearm transmission shaft 29; the other end of the J4 forearm transmission shaft 29 is provided with a J4 rear end transmission shaft 10 through a screw, and the J4 rear end transmission shaft 10 is fixed in the forearm shell 1 through a J4 rear end transmission shaft 10 bearing 9 and a J4 shaft retainer ring 21; the rear end transmission shaft 10 of J4 is provided with a J4 big bevel gear 8 through screws, and the J4 big bevel gear 8 is provided with a J5 shaft gear bearing 17 to support a J5 bevel gear 7; the J5 shaft gear bearing 17 and the J5 forearm transmission shaft bearing 28 realize the mutual independence of the J4 forearm transmission shaft 29 and the 5 forearm transmission shaft when the J4 forearm transmission shaft 29 moves, namely the J5 forearm transmission shaft 23 does not move when the J4 forearm transmission shaft 29 moves.
One end of the J5 forearm transmission shaft 23 is provided with a J5 input gear 4 through a screw, and the J5 input gear 4 and the J4 gear spacer 27 fix the J5 forearm transmission shaft 23 in an inner ring of a J5 forearm transmission shaft bearing 28; the other end of the J5 forearm transmission shaft 23 is sequentially provided with a J5 rear end transmission shaft 20, a J5 gear connecting shaft 18 and a J5 bevel gear 7, and the J5 bevel gear 7 is supported by a J5 shaft gear bearing 17; the J5 forearm shaft 23 is mounted coaxially within the J4 forearm shaft 29.
The input shaft of a J6 motor (the motor adopts a motor corresponding to the transmission structure of the patent and is not described in detail here) is directly connected with one end hole of the J6 forearm transmission shaft 25, and the J6 forearm transmission shaft 25 is simultaneously arranged inside the J5 forearm transmission shaft 23 and is coaxial; the other end of the J6 forearm transmission shaft 25 is provided with a J6 rear end transmission shaft 13 through a screw, and the J6 bevel pinion 6 is arranged on the J6 rear end transmission shaft 13 through a screw; the independent movement of the J5 small arm transmission shaft 23 and the J6 small arm transmission shaft 25 is realized through the J6 small arm transmission shaft bearing 26 and the J6 small bevel gear 6 bearing; when the J6 motor rotates, the J6 bevel pinion 6 moves.
When the input gear 5 of the J4 rotates, the rotation of the small arm transmission shaft 29 of the J4 is caused, the rear end transmission shaft 10 of the J4 follows the movement, and the large bevel gear 8 of the J4 is arranged on the rear end transmission shaft 10 of the J4 through a screw to realize the movement of the small arm of the J4. When the input gear 4 of the J5 rotates, the small arm transmission shaft 23 of the J5 is caused to rotate, and the rear end transmission shaft 20 of the J5 is connected with the small arm transmission shaft 23 of the J5 and rotates along with the rotation; the J5 gear connecting shaft 18 is connected with the J5 rear end transmission shaft 20 and can rotate simultaneously, and the J5 bevel gear 7 is installed on the J5 gear connecting shaft 18 through screws, so that the movement of the J5 bevel gear 7 is realized. The input shaft of the J6 motor is directly connected with the J6 small arm transmission shaft 25, the J6 rear end transmission shaft 13 is arranged at the other end of the J6 small transmission shaft through screws, and the J6 small bevel gear 6 is arranged on the J6 rear end transmission shaft 13 through screws; when the J6 motor rotates, the J6 bevel pinion 6 moves.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention, so that any modifications, equivalents, improvements and the like, which are within the spirit and principle of the present invention, should be included in the scope of the present invention.
Claims (10)
1. A forearm for use in an industrial robot, characterized by: comprises a small arm shell (1), a primary transmission shaft, a secondary transmission shaft and a tertiary transmission shaft which are arranged in the small arm shell (1);
the transmission shafts at all levels are mutually sleeved and run independently, the length of the first-level transmission shaft is greater than that of the second-level transmission shaft, the length of the second-level transmission shaft is greater than that of the third-level transmission shaft, the length of the third-level transmission shaft is greater than that of the forearm shell (1), and driven wheels used for driving a motor to connect and driving wheels used for driving a wrist are respectively installed at two ends of each-level transmission shaft.
2. An arm for an industrial robot according to claim 1, characterized in that: the first-stage transmission shaft is a J6 forearm transmission shaft (25), the second-stage transmission shaft is a J5 forearm transmission shaft (23), the third-stage transmission shaft is a J4 forearm transmission shaft (29), the driven wheel comprises a J4 input gear (5) and a J5 input gear (4), the driving wheel comprises a J4 large bevel gear (8), a J5 bevel gear (7) and a J6 small bevel gear (6), the J6 small bevel gear (6) is installed at one end of the J6 forearm transmission shaft (25), the other end of the J6 forearm transmission shaft (25) is connected with a motor, the J5 bevel gear (7) is installed at one end of the J5 forearm transmission shaft (23), the J5 input gear (4) is installed at the other end of the J5 forearm transmission shaft (23), the J4 large bevel gear (8) is installed at one end of the J4 forearm transmission shaft (29), and the J4 input gear (5) is installed at the other end of the J4 forearm transmission shaft (29);
the diameter of the J4 large bevel gear (8) is larger than that of the J5 bevel gear (7), the diameter of the J5 bevel gear (7) is larger than that of the J6 small bevel gear (6), the J5 bevel gear (7) is positioned between the J6 small bevel gear (6) and the J4 large bevel gear (8), and the J4 large bevel gear (8) is close to one end of the small arm shell (1).
3. An arm for an industrial robot according to claim 2, characterized in that: the J4 input wheel passes through the bolt fastening and passes through J4 forearm transmission shaft (29) one end, install J4 forearm transmission shaft bearing (22) between J4 forearm transmission shaft (29) one end and forearm shell (1), first oil blanket (291), be equipped with first annular arch (101) on forearm shell (1) one end inner wall, the one end of J4 forearm transmission shaft (29) is run through first annular arch (101) back and still run through first oil blanket (291) in proper order, J4 forearm transmission shaft bearing (22), J4 forearm transmission shaft (29) one end is equipped with second annular arch (293), the one end and the laminating of second annular arch (293) of J4 forearm transmission shaft bearing (22).
4. A forearm for application to an industrial robot according to claim 3, characterized in that: the J4 big bevel gear (8) is arranged at the other end of the J4 forearm transmission shaft (29) through a J4 rear end transmission shaft (10), the J4 rear end transmission shaft (10) is barrel-shaped, the J4 rear end transmission shaft (10) is buckled at the other end of the J4 forearm transmission shaft (29), the bottom of the J4 rear end transmission shaft (10) is fixed at the end part of the J4 forearm transmission shaft (29) through bolts, a J4 rear end transmission shaft bearing (9) is arranged between the other end of the J4 rear end transmission shaft (10) and the forearm shell (1), a second oil seal (292) and a J4 shaft retainer ring (21) are arranged, a third annular bulge (102) is arranged inside the forearm shell (1), the second oil seal (292) is arranged close to the third annular bulge (102), the J4 forearm transmission shaft (29) penetrates through the J4 rear end transmission shaft bearing (9) and the J4 shaft retainer ring (21) in sequence after penetrating through the third annular bulge (102), the bottom of the J4 rear end transmission shaft (10) is jacked on the third bulge (102), one end of a J4 rear end transmission shaft bearing (9) tightly props up the end surface of a second oil seal (292), and a J4 shaft uses a retainer ring (21) to tightly prop up the J4 rear end transmission shaft bearing (9);
a J4 shaft adjusting shim (19) is arranged between the J4 large bevel gear (8) and a J4 rear end transmission shaft (10).
5. An arm for an industrial robot according to claim 2, characterized in that: the J5 input wheel is fixed at one end of a J5 forearm transmission shaft (23) through a bolt, a J5 forearm transmission shaft bearing (28) is installed between one end of the J5 forearm transmission shaft (23) and a J4 forearm transmission shaft (29), and a J4 gear spacer (27) is installed between the J5 input wheel and the J4 input wheel.
6. An arm for an industrial robot according to claim 5, characterized in that: j5 bevel gear (7) passes through J5 rear end transmission shaft (20), the other end at J5 forearm transmission shaft (23) is installed to J5 gear connecting axle (18), J5 rear end transmission shaft (20) is the tubbiness, J5 rear end transmission shaft (20) is detained at the other end of J5 forearm transmission shaft (23), J5 gear connecting axle (18) one end is passed through the bolt fastening in the one end of J5 rear end transmission shaft (20), J5 bevel gear (7) passes through J5 bevel gear (7) set screw fastening in the other end of J5 gear connecting axle (18).
7. An arm for an industrial robot according to claim 6, characterized in that: and a third oil seal (231) is arranged between the other end of the J5 forearm transmission shaft (23) and the J4 forearm transmission shaft (29).
8. An arm for an industrial robot according to claim 7, characterized in that: a J5 shaft gear bearing (17) and a J5 shaft adjusting shim (16) are arranged between the J5 bevel gear (7) and the J4 large bevel gear (8).
9. An arm for an industrial robot according to claim 2, characterized in that: install fourth oil blanket (251) between the one end of J6 forearm transmission shaft (25) and J5 forearm transmission shaft (23), J6 transmission shaft bearing frame (3) are installed to J6 forearm transmission shaft (25) one end, install J6 forearm transmission shaft bearing (26) between J6 forearm transmission shaft (25) and J6 transmission shaft bearing frame (3), J6 transmission shaft retaining ring (24) are installed to J6 transmission shaft bearing frame (3) one end, transmission retaining ring group includes J6 transmission shaft outer retaining ring (242), J6 transmission shaft inner retainer ring (241), J6 transmission shaft outer retainer ring (242) are through on bolt fastening J6 transmission shaft bearing frame (3), J6 transmission shaft inner retainer ring (241) is through the bolt fastening on J6 forearm transmission shaft (25), J6 forearm transmission shaft (25) one end is connected with the motor after running through J6 transmission shaft retaining ring (24).
10. An arm for an industrial robot according to claim 9, characterized in that: the J6 bevel pinion (6) is installed at the other end of J6 forearm transmission shaft (25) through J6 rear end transmission shaft (13), J6 rear end transmission shaft (13) is the T font, J6 rear end transmission shaft (13) one end is detained at J6 forearm transmission shaft (25) other end, the other end of J6 rear end transmission shaft (13) extends to on J6 bevel pinion (6) terminal surface, J6 rear end transmission shaft (13) is fixed in the tip of J6 forearm transmission shaft (25) through J6 bevel gear fixing screw (15), J6 bevel pinion bearing (12), J6 bevel pinion adjusting gasket (11) are installed between J6 bevel pinion (6) and J5 bevel gear (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111027345.2A CN113771020A (en) | 2021-09-02 | 2021-09-02 | Be applied to industrial robot's forearm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111027345.2A CN113771020A (en) | 2021-09-02 | 2021-09-02 | Be applied to industrial robot's forearm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113771020A true CN113771020A (en) | 2021-12-10 |
Family
ID=78840750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111027345.2A Withdrawn CN113771020A (en) | 2021-09-02 | 2021-09-02 | Be applied to industrial robot's forearm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113771020A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102527560A (en) * | 2010-12-27 | 2012-07-04 | 鸿富锦精密工业（深圳）有限公司 | Spray painting robot arm component and spray painting robot |
| CN106625748A (en) * | 2016-12-21 | 2017-05-10 | 扬州科文机器人有限公司 | Wrist structure of spray robot |
| KR20170068654A (en) * | 2015-12-09 | 2017-06-20 | 현대중공업 주식회사 | Robot with improved bearing pre-load structure |
| CN108145705A (en) * | 2016-12-05 | 2018-06-12 | 张家港科康智能科技有限公司 | A kind of five axis massage mechanical arms |
| CN209919889U (en) * | 2019-03-27 | 2020-01-10 | 曾林旺 | Multi-axis independent control mechanical arm |
| CN210476987U (en) * | 2019-02-28 | 2020-05-08 | 欢颜自动化设备（上海）有限公司 | Six-axis spraying robot wrist structure |
| CN217168516U (en) * | 2021-09-02 | 2022-08-12 | 清研同创机器人（天津）有限公司 | Be applied to industrial robot's forearm |
-
2021
- 2021-09-02 CN CN202111027345.2A patent/CN113771020A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102527560A (en) * | 2010-12-27 | 2012-07-04 | 鸿富锦精密工业（深圳）有限公司 | Spray painting robot arm component and spray painting robot |
| KR20170068654A (en) * | 2015-12-09 | 2017-06-20 | 현대중공업 주식회사 | Robot with improved bearing pre-load structure |
| CN108145705A (en) * | 2016-12-05 | 2018-06-12 | 张家港科康智能科技有限公司 | A kind of five axis massage mechanical arms |
| CN106625748A (en) * | 2016-12-21 | 2017-05-10 | 扬州科文机器人有限公司 | Wrist structure of spray robot |
| CN210476987U (en) * | 2019-02-28 | 2020-05-08 | 欢颜自动化设备（上海）有限公司 | Six-axis spraying robot wrist structure |
| CN209919889U (en) * | 2019-03-27 | 2020-01-10 | 曾林旺 | Multi-axis independent control mechanical arm |
| CN217168516U (en) * | 2021-09-02 | 2022-08-12 | 清研同创机器人（天津）有限公司 | Be applied to industrial robot's forearm |
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| 贺东坤;: "多关节型搬运机械手结构设计", 长春大学学报, vol. 23, no. 06, 30 June 2013 (2013-06-30), pages 654 - 659 * |
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Application publication date: 20211210 |
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