CN114310866A - Robot joint and method for adjusting gear backlash between joints - Google Patents
Robot joint and method for adjusting gear backlash between joints Download PDFInfo
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- CN114310866A CN114310866A CN202210228978.8A CN202210228978A CN114310866A CN 114310866 A CN114310866 A CN 114310866A CN 202210228978 A CN202210228978 A CN 202210228978A CN 114310866 A CN114310866 A CN 114310866A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 1
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Abstract
The invention discloses a robot joint and a method for adjusting gear backlash between joints, and relates to the field of robots. The robot joint and the method for adjusting the gear backlash between joints are capable of adjusting the gear backlash simply, efficiently and reliably. The robot joint comprises a robot wrist, wherein an input arc bevel gear is arranged in the robot wrist and is connected with a rotating shaft, two first bearings are arranged outside the rotating shaft, a first waveform gasket is arranged between one first bearing and the robot wrist, and a fine-tooth nut is arranged on the end surface of the other first bearing; the input circular arc bevel gear is meshed with the output circular arc gear, the output circular arc gear is connected with a wave generator shaft, the wave generator shaft is connected with a robot output flange, two second bearings are arranged outside the wave generator shaft, the second bearing close to one side of the output circular arc gear is installed on a shaft shoulder of the wave generator shaft, and a second waveform gasket is arranged between the other second bearing and the robot output flange.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot joint and a method for adjusting gear backlash between joints.
Background
Industrial robots are generally provided with a plurality of joints, gears are provided inside the joints, and it is sometimes necessary to adjust backlash of the gears in the joints of the robot in accordance with adjustment of the overall structure of the robot.
Chinese patent CN 112643714 a of the present invention proposes a robot backlash adjustment method, which determines a pre-installed backlash of each conical arc tooth according to a difference between an installation positioning dimension and a theoretical installation dimension of each conical arc tooth of a robot, determines a thickness of an adjustment shim by using a closed loop dimension chain, and places the adjustment shim with a corresponding thickness at a preset position of the robot to adjust the backlash parameter of the conical arc tooth to be within the pre-installed backlash.
The method has large calculation amount in early stage design, different size tolerance distribution methods on a size chain are not uniform, the calculated thickness of the gasket has a tolerance range, and the gear tooth clearance is too large or too small due to machining errors and assembly errors of parts, so that the parts also need to be disassembled, assembled and adjusted.
Disclosure of Invention
The invention aims to provide a robot joint capable of simply, efficiently and reliably adjusting gear clearance and a method for adjusting gear clearance between joints.
The invention provides a technical scheme, and the robot joint comprises a robot wrist, wherein an input arc bevel gear is arranged in the robot wrist and is connected with a rotating shaft, two first bearings are arranged outside the rotating shaft, a first waveform gasket is arranged between the first bearing close to one side of the input arc bevel gear and the robot wrist, and a fine-tooth nut is arranged on the end surface of the first bearing far away from one side of the input arc bevel gear;
the input circular arc bevel gear is meshed with the output circular arc gear, the output circular arc gear is connected with a wave generator shaft, the wave generator shaft is connected with a robot output flange, two second bearings are arranged outside the wave generator shaft, the second bearing close to one side of the output circular arc gear is installed on a shaft shoulder of the wave generator shaft, and a second waveform gasket is arranged between the second bearing far away from one side of the output circular arc gear and the robot output flange.
The robot joint of the invention is characterized in that the rotating shaft is connected with an input synchronous belt wheel.
The robot joint of the invention is characterized in that the fine-tooth nut is provided with a set screw.
The robot joint comprises a robot wrist, a bevel gear shaft sleeve, a fine-tooth nut, a bevel gear shaft sleeve and a robot wrist.
The robot joint of the invention is characterized in that an adjusting gasket is arranged between the output circular arc gear and the wave generator shaft.
The invention provides another technical scheme, which is a method for adjusting the gear backlash between joints, and the method comprises the following steps: two first bearings are arranged outside a rotating shaft connected with the input arc bevel gear, wherein a first waveform gasket is arranged between the first bearing close to one side of the input arc bevel gear and the robot wrist, and the pretightening force of the first bearing close to one side of the input arc bevel gear is provided by the first waveform gasket; a fine-thread nut is arranged below the first bearing far away from one side of the input arc bevel gear, and the position of the first bearing far away from one side of the input arc bevel gear is adjusted by the fine-thread nut; two second bearings are arranged outside the wave generator shaft connected with the output circular arc gear, and the second bearing close to one side of the output circular arc gear is arranged on a shaft shoulder of the wave generator shaft to clamp the wave generator shaft; and a second waveform gasket is arranged between the second bearing far away from one side of the output circular arc gear and the robot output flange, and the second waveform gasket is utilized to provide pre-tightening force for the second bearing far away from one side of the output circular arc gear.
The invention relates to a method for adjusting gear backlash between joints, wherein when the gear backlash is adjusted, one of an input arc bevel gear and an output arc gear is adjusted and fixed, and then the position of the other gear is adjusted.
The invention relates to a method for adjusting gear backlash between joints, wherein a set screw is arranged on a fine-toothed nut.
The invention relates to a method for adjusting gear backlash between joints, wherein a fine-tooth nut is meshed with a bevel-tooth shaft sleeve, and the bevel-tooth shaft sleeve is fixedly connected with a robot wrist.
The invention relates to a method for adjusting the backlash of an inter-joint gear, wherein an adjusting gasket is arranged between an output circular arc gear and a wave generator shaft.
The robot joint and the method for adjusting the gear backlash between the joints are different from the prior art in that the waveform gasket for adjusting the gear backlash is arranged in the robot joint, the gear backlash adjustment in the prior art can be converted into the position of one fixed gear by only depending on the thicknesses of the gaskets at two gears and bearings during adjustment, the position of the other gear is adjusted in a manner of giving the bearing pretightening force through the fine-tooth nut and the waveform gasket, the thickness of the gasket is not required to be calculated excessively, and the gasket is not required to be disassembled and replaced for the second time, so that the gear backlash adjustment is efficient, convenient and reliable.
The robot joint and the inter-joint gear backlash adjustment method of the present invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a robot joint according to the present invention;
FIG. 2 is a side view of a robotic joint of the present invention;
FIG. 3 is a sectional view taken along line A-A in FIG. 2;
FIG. 4 is an exploded view of the cross-member of FIG. 3;
FIG. 5 is an exploded view of the longitudinal member of FIG. 3;
the notation in the figures means: 1-inputting a circular arc bevel gear; 2-a rotating shaft; 3-a first wave shim; 4-a bevel gear shaft sleeve; 5-a first bearing; 6-fine thread nut; 7-set screws; 8-input synchronous pulley; 9-output circular arc gear; 10-adjusting the shim; 11-wave generator shaft; 12-a second bearing; 13-a second wave pad; 14-a robot output flange; 15-robot wrist.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 5, the robot joint of the present invention includes a robot wrist 15, and an input circular bevel gear 1 is disposed inside the robot wrist 15. The input circular arc bevel gear 1 is meshed with the output circular arc gear 9, the input circular arc bevel gear 1 is positioned at the power input end of the joint, and the output circular arc gear 9 is positioned at the power output end of the joint.
As shown in fig. 5, fig. 5 is an exploded view of the robot joint in the axial direction of the input circular bevel gear 1. The input circular bevel gear 1 is connected with a rotating shaft 2, and the rotating shaft 2 is connected with an input synchronous belt pulley 8. The input synchronous belt wheel 8 is connected with a belt wheel for inputting power and drives the rotating shaft 2 and the input arc bevel gear 1 to rotate. Two first bearings 5 are provided outside the rotating shaft 2. A first waveform gasket 3 is arranged between the first bearing 5 and the robot wrist 15, and the first waveform gasket 3 is close to one side of the input arc bevel gear 1 and provides pre-tightening force for the first bearing 5. Keep away from input circular arc bevel gear 1 one side below of first bearing 5 and be provided with fine tooth nut 6, be provided with holding screw 7 on the fine tooth nut 6, fine tooth nut 6 contacts with first bearing 5 outer lane for inject the position of first bearing 5, after the rigidity of first bearing 5, the holding screw 7 of screwing, holding screw 7 contacts with first bearing 5 outer lane, with the rigidity of first bearing 5. The fine-thread nut 6 is meshed with the bevel-tooth shaft sleeve 4 through external threads. The bevel gear shaft sleeve 4 is fixedly connected with a robot wrist 15.
As shown in fig. 4, fig. 4 is an exploded view of the robot joint along the axial direction of the output circular-arc gear 9. The output circular arc gear 9 is connected with a wave generator shaft 11, the wave generator shaft 11 is connected with a robot output flange 14, and the robot output flange 14 is connected with related components of an execution end. An adjusting gasket 10 is arranged between the output circular arc gear 9 and the wave generator shaft 11. The adjusting shim 10 can adjust and mount the output circular arc gear 9 to a theoretical fitting position. Two second bearings 12 are arranged outside the wave generator shaft 11, the second bearing 12 close to one side of the output circular-arc gear 9 is arranged on a shaft shoulder of the wave generator shaft 11, the wave generator shaft 11 is clamped, and the wave generator shaft 11 and the output circular-arc gear 9 are limited to move towards the direction far away from the robot output flange 14. A second wave-shaped gasket 13 is arranged between the second bearing 12 far away from one side of the output circular-arc gear 9 and the robot output flange 14 and is used for limiting the wave generator shaft 11 and the output circular-arc gear 9 to move towards one side of the robot output flange 14.
When the robot joint moves, the synchronous belt wheel is driven to rotate by external power, the synchronous belt wheel drives the rotating shaft 2 and the input arc bevel gear 1 to rotate, the input arc bevel gear 1 drives the output arc gear 9 to rotate, and the output arc gear 9 drives the wave generator shaft 11 and the robot output flange 14 to move.
Example 2
In the embodiment, the method for adjusting the gear backlash between joints is used, and in the process of installing the joints of the robot, the gear backlash of an input arc bevel gear 1 and an output arc gear 9 inside the robot needs to be adjusted. Wherein, the input arc bevel gear 1 is movably arranged on a robot wrist 15, and a robot output flange 14 is arranged on a wave generator shaft 11 connected with the output arc gear 9.
The method for adjusting the gear backlash between joints comprises the following steps: two first bearings 5 are arranged outside a rotating shaft 2 connected with an input circular-arc bevel gear 1, wherein a first waveform gasket 3 is arranged between the first bearing 5 close to one side of the input circular-arc bevel gear 1 and a robot wrist 15, and the first waveform gasket 3 is used for providing pre-tightening force for the first bearing 5; a fine-toothed nut 6 is arranged below the first bearing 5 on the side far away from the input circular-arc bevel gear 1, the position of the fine-toothed nut 6 can be adjusted and fixed after adjustment, a set screw 7 is arranged on the fine-toothed nut 6, the fine-toothed nut 6 is in contact with the outer ring of the first bearing 5, and the position of the first bearing 5 is adjusted by the fine-toothed nut 6; two second bearings 12 are arranged outside the wave generator shaft 11 connected with the output circular-arc gear 9, and the second bearing 12 close to one side of the output circular-arc gear 9 is arranged on a shaft shoulder of the wave generator shaft 11 to clamp the wave generator shaft 11; a second wave-shaped gasket 13 is arranged between the second bearing 12 on the side far away from the output circular arc gear 9 and the robot output flange 14, and the second wave-shaped gasket 13 is used for providing pre-tightening force for the second bearing 12; when in adjustment, one gear is adjusted and fixed, and then the position of the other gear is adjusted.
The invention provides a robot joint capable of adjusting gear backlash and a method for adjusting the gear backlash between joints. In the adjusting process, the technical scheme of the invention is that the gear backlash adjustment in the prior art is converted into the method of fixing the position of one gear by only depending on the thicknesses of the two gears and the gasket at the bearing, and the position of the other gear is adjusted by giving the bearing pretightening force through the fine-tooth nut 6 and the waveform gasket, so that the thickness of the gasket is not required to be calculated excessively, and the gasket is not required to be disassembled and replaced for the second time, and the gear backlash adjustment is efficient, convenient and reliable.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A robot joint, characterized by: the robot wrist comprises a robot wrist, wherein an input arc bevel gear is arranged in the robot wrist and is connected with a rotating shaft, two first bearings are arranged outside the rotating shaft, a first waveform gasket is arranged between the first bearing close to one side of the input arc bevel gear and the robot wrist, and a fine-tooth nut is arranged on the end surface of the first bearing far away from one side of the input arc bevel gear;
the input circular arc bevel gear is meshed with the output circular arc gear, the output circular arc gear is connected with a wave generator shaft, the wave generator shaft is connected with a robot output flange, two second bearings are arranged outside the wave generator shaft, the second bearing close to one side of the output circular arc gear is installed on a shaft shoulder of the wave generator shaft, and a second waveform gasket is arranged between the second bearing far away from one side of the output circular arc gear and the robot output flange.
2. The robotic joint of claim 1, wherein: the rotating shaft is connected with an input synchronous belt wheel.
3. The robotic joint of claim 1, wherein: and the fine-tooth nut is provided with a set screw.
4. The robotic joint of claim 1, wherein: the fine-tooth nut is meshed with the bevel-tooth shaft sleeve, and the bevel-tooth shaft sleeve is fixedly connected with the robot wrist.
5. The robotic joint of claim 1, wherein: and an adjusting gasket is arranged between the output arc gear and the wave generator shaft.
6. A method for adjusting gear backlash between joints is characterized by comprising the following steps: two first bearings are arranged outside a rotating shaft connected with the input arc bevel gear, wherein a first waveform gasket is arranged between the first bearing close to one side of the input arc bevel gear and the robot wrist, and the pretightening force of the first bearing close to one side of the input arc bevel gear is provided by the first waveform gasket; a fine-thread nut is arranged below the first bearing far away from one side of the input arc bevel gear, and the position of the first bearing far away from one side of the input arc bevel gear is adjusted by the fine-thread nut; two second bearings are arranged outside the wave generator shaft connected with the output circular arc gear, and the second bearing close to one side of the output circular arc gear is arranged on a shaft shoulder of the wave generator shaft to clamp the wave generator shaft; and a second waveform gasket is arranged between the second bearing far away from one side of the output circular arc gear and the robot output flange, and the second waveform gasket is utilized to provide pre-tightening force for the second bearing far away from one side of the output circular arc gear.
7. The inter-joint gear backlash adjustment method according to claim 6, wherein: when the gear backlash is adjusted, one of the input arc bevel gear and the output arc gear is adjusted and fixed, and then the position of the other gear is adjusted.
8. The inter-joint gear backlash adjustment method according to claim 6, wherein: and the fine-tooth nut is provided with a set screw.
9. The inter-joint gear backlash adjustment method according to claim 6, wherein: the fine-tooth nut is meshed with the bevel-tooth shaft sleeve, and the bevel-tooth shaft sleeve is fixedly connected with the robot wrist.
10. The inter-joint gear backlash adjustment method according to claim 6, wherein: and an adjusting gasket is arranged between the output arc gear and the wave generator shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210228978.8A CN114310866B (en) | 2022-03-10 | 2022-03-10 | Robot joint and method for adjusting gear backlash between joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210228978.8A CN114310866B (en) | 2022-03-10 | 2022-03-10 | Robot joint and method for adjusting gear backlash between joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114310866A true CN114310866A (en) | 2022-04-12 |
| CN114310866B CN114310866B (en) | 2022-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210228978.8A Active CN114310866B (en) | 2022-03-10 | 2022-03-10 | Robot joint and method for adjusting gear backlash between joints |
Country Status (1)
| Country | Link |
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| CN (1) | CN114310866B (en) |
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| DE3629620A1 (en) * | 1986-08-30 | 1988-03-03 | Burkhardt Volker | Apparatus for transporting material on conveying rollers |
| US5725035A (en) * | 1996-06-05 | 1998-03-10 | Black & Decker Inc. | Apparatus for adjusting the relative positions of two components of a power tool |
| JP2003237595A (en) * | 2002-02-15 | 2003-08-27 | Nsk Ltd | Gear transmission device for steering device |
| CN104070533A (en) * | 2013-03-28 | 2014-10-01 | 鸿富锦精密工业（深圳）有限公司 | Arm component of robot |
| CN104176113A (en) * | 2013-05-28 | 2014-12-03 | 上海汽车集团股份有限公司 | Worm gear gap eliminating mechanism, electric power-assisted steering system and automobile |
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| CN206668935U (en) * | 2017-04-24 | 2017-11-24 | 佛山市利宏源机械设备有限公司 | A kind of plate surface skin grinder feed system gapless transmission device |
| CN107379009A (en) * | 2017-08-23 | 2017-11-24 | 珞石（北京）科技有限公司 | A kind of novel robot wrist structure |
| US20180266535A1 (en) * | 2015-01-19 | 2018-09-20 | Lenze Drives Gmbh | Transmission and Method for Adjusting the Circumferential Backlash of the Transmission |
| CN208503366U (en) * | 2018-06-26 | 2019-02-15 | 厦门利茗精密机电有限公司 | A kind of back clearance adjustment structure of bevel gear reducer |
| CN209309295U (en) * | 2018-11-05 | 2019-08-27 | 上海新时达机器人有限公司 | Bevel gear gap-eliminating structure |
| CN110637178A (en) * | 2017-02-27 | 2019-12-31 | 概念及设计有限公司 | Anti-backlash device and method |
| CN210566090U (en) * | 2019-08-28 | 2020-05-19 | 苏州麦图丝杆制造有限公司 | Precision gap eliminating nut |
| CN112643714A (en) * | 2020-12-25 | 2021-04-13 | 珠海格力智能装备有限公司 | Backlash adjusting method for robot |
| CN113324011A (en) * | 2020-02-28 | 2021-08-31 | 尼得科电产电机与驱动器(德国)有限公司 | Transmission housing unit and transmission unit |
| CN113324014A (en) * | 2020-02-28 | 2021-08-31 | 尼得科电产电机与驱动器(德国)有限公司 | Gear housing unit with clamping screw for axial play compensation |
-
2022
- 2022-03-10 CN CN202210228978.8A patent/CN114310866B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3629620A1 (en) * | 1986-08-30 | 1988-03-03 | Burkhardt Volker | Apparatus for transporting material on conveying rollers |
| US5725035A (en) * | 1996-06-05 | 1998-03-10 | Black & Decker Inc. | Apparatus for adjusting the relative positions of two components of a power tool |
| JP2003237595A (en) * | 2002-02-15 | 2003-08-27 | Nsk Ltd | Gear transmission device for steering device |
| CN104070533A (en) * | 2013-03-28 | 2014-10-01 | 鸿富锦精密工业（深圳）有限公司 | Arm component of robot |
| CN104176113A (en) * | 2013-05-28 | 2014-12-03 | 上海汽车集团股份有限公司 | Worm gear gap eliminating mechanism, electric power-assisted steering system and automobile |
| US20180266535A1 (en) * | 2015-01-19 | 2018-09-20 | Lenze Drives Gmbh | Transmission and Method for Adjusting the Circumferential Backlash of the Transmission |
| CN106151483A (en) * | 2015-03-12 | 2016-11-23 | 盐城工业职业技术学院 | Concurrent aces Bevel Gear Transmission clearance eliminating mechanism |
| CN110637178A (en) * | 2017-02-27 | 2019-12-31 | 概念及设计有限公司 | Anti-backlash device and method |
| CN206668935U (en) * | 2017-04-24 | 2017-11-24 | 佛山市利宏源机械设备有限公司 | A kind of plate surface skin grinder feed system gapless transmission device |
| CN107379009A (en) * | 2017-08-23 | 2017-11-24 | 珞石（北京）科技有限公司 | A kind of novel robot wrist structure |
| CN208503366U (en) * | 2018-06-26 | 2019-02-15 | 厦门利茗精密机电有限公司 | A kind of back clearance adjustment structure of bevel gear reducer |
| CN209309295U (en) * | 2018-11-05 | 2019-08-27 | 上海新时达机器人有限公司 | Bevel gear gap-eliminating structure |
| CN210566090U (en) * | 2019-08-28 | 2020-05-19 | 苏州麦图丝杆制造有限公司 | Precision gap eliminating nut |
| CN113324011A (en) * | 2020-02-28 | 2021-08-31 | 尼得科电产电机与驱动器(德国)有限公司 | Transmission housing unit and transmission unit |
| CN113324014A (en) * | 2020-02-28 | 2021-08-31 | 尼得科电产电机与驱动器(德国)有限公司 | Gear housing unit with clamping screw for axial play compensation |
| CN112643714A (en) * | 2020-12-25 | 2021-04-13 | 珠海格力智能装备有限公司 | Backlash adjusting method for robot |
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| Publication number | Publication date |
|---|---|
| CN114310866B (en) | 2022-05-27 |
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Address after: 272000, No. 888 Huarun Road, Zhongxin Electromechanical Industrial Park, Zhongdian Town, Zoucheng City, Jining City, Shandong Province Patentee after: Luoshi (Shandong) Robot Group Co.,Ltd. Country or region after: China Address before: 100097 1-01, floor 7, building a, Beijing Haiqing Shuguang real estate development center (Office) and postal branch project, East wangfuyuan District, Haidian District, Beijing Patentee before: ROKAE, Inc. Country or region before: China |
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