CN114872080A - Robot tail end wrist structure - Google Patents

Abstract

The invention relates to a robot, in particular to a tail end wrist structure of a robot, which comprises a seat body fixedly connected with the front end of a small arm sleeve, and is characterized in that: the U-shaped five-axis shell covers the front end of the seat body, a five-axis input cylinder shaft with the axial direction in the front-back direction is rotatably arranged in the seat body, a first bevel gear is fixedly connected to the inner end of the five-axis input cylinder shaft, a first longitudinal shaft with the axial direction in the left-right direction is rotatably arranged on the right side of the seat body, the inner end of the five-axis input cylinder shaft is fixedly connected to a second bevel gear meshed with the first bevel gear, and the outer end of the five-axis input cylinder shaft is fixedly connected to the right side of the five-axis shell or drives the left side of the five-axis shell through a reduction gear set. Compared with the prior art, the power input ends of the five and six shafts of the invention adopt a coaxial structure, the power transmission of the five and six shafts is coupled, and the structure has the advantages of compact structure, large movement range, small volume, convenient adjustment and the like.

Description

A robot end wrist structure

technical field

The invention relates to a robot, in particular to a robot end wrist structure.

Background technique

The end wrist structure of the industrial six-axis robot includes a five-axis that can swing within a certain range and a six-axis that rotates. The existing five-axis and six-axis use a motor direct connection structure or a belt drive structure. However, the existing structure has certain shortcomings. The defect of the motor directly connected structure is that the motor is installed on the corresponding reducer, which increases the volume and affects the motion range of the five axes. The disadvantage of the belt drive structure is that the belt drive structure is easy to slip when the belt drive structure is overloaded, the life is short, and the reliability is low.

SUMMARY OF THE INVENTION

In order to overcome the defect or one of the defects of the prior art, the present invention discloses a robot end wrist structure, and the adopted technical scheme is:

A wrist structure at the end of a robot comprises a seat body fixedly connected with the front end of a forearm sleeve, and is characterized in that: a U-shaped five-axis shell covers the front end of the seat body, and the seat body is transferred with five axes whose axial direction is in the front-rear direction. Axle input cylindrical shaft, the inner end of the five-axis input cylindrical shaft is fixedly connected to the first bevel gear, the first longitudinal axis whose axial direction is the left-right direction is rotated on the right side of the seat body, and the inner end is fixedly connected to the second bevel gear meshing with the first bevel gear. The bevel gear and the outer end are fixedly connected with the right side of the five-axis housing or drive the left side of the five-axis housing through a reduction gear set.

Further, the six-axis input shaft that is coaxial with the five-axis input cylinder is rotated, the inner end of the six-axis input shaft is fixedly connected to the third bevel gear, and the second longitudinal axis that is coaxial with the first longitudinal axis is rotated and set on the seat body. and the left side of the five-axis housing, the inner end of the second longitudinal axis is fixedly connected to the fourth bevel gear meshing with the third bevel gear, and the outer end of the second longitudinal axis is fixedly connected to the first bevel gear; The left side of the five-axis housing is rotated to a third longitudinal axis, the inner end of the third longitudinal axis is fixed with a fifth bevel gear, and the outer end is fixed with a second spur gear that meshes with the first spur gear; the front end of the five-axis housing is rotated The projection of the axis is a horizontal axis in the front-rear direction, and a sixth bevel gear meshing with the fifth bevel gear is fixed at the inner end of the horizontal axis.

Further, the reduction gear set is a gear set for an RV reducer.

Further, three annular support plates are fixed inside the five-axis housing, O-rings are used to seal between the five-axis housing and the front and rear two annular support plates, and the inner rings of the front and rear two annular support plates and the horizontal axis pass through the front and rear. Two oppositely arranged thrust bearings are swivel supported.

Compared with the prior art, the power input end of the fifth and sixth shafts of the present invention adopts a coaxial structure, and the power transmission of the fifth and sixth shafts is coupled. This structure has the advantages of compact structure, large movement range, small volume and convenient adjustment.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a partial cross-sectional view of FIG. 1 .

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in Figure 1-2, a robot end wrist structure includes a base body 1 fixed to the front end of the forearm sleeve, a U-shaped five-axis housing 10 covers the front end of the base body 1, and the interior of the base body 1 The five-axis input cylindrical shaft 2 whose axial direction is the front-rear direction is rotated. The inner end of the five-axis input cylindrical shaft 2 is fixedly connected to the first bevel gear 3 , and the first longitudinal axis 4 whose axial direction is the left-right direction is rotated and set on the right side of the seat body 1 , the inner end is fixedly connected to the second bevel gear 5 meshing with the first bevel gear 3 , and the outer end is fixedly connected to the right side of the five-axis housing 10 .

The outer end of the five-axis input cylindrical shaft 2 is fixedly connected to a motor or other torque output device. When the five-axis input cylindrical shaft 2 rotates forward and reverse, it drives the U-shaped five-axis housing 10 to pitch up and down, which is a five-axis.

A six-axis input shaft 6 coaxial with the five-axis input cylindrical shaft 2 is rotated inside, the inner end of the six-axis input shaft 6 is fixedly connected to the third bevel gear 7, and the second longitudinal shaft coaxial with the first longitudinal shaft 4 rotates 8 Set on the left side of the seat body 1 and the five-axis housing 10, the inner end of the second longitudinal shaft 8 is fixedly connected to the fourth bevel gear 9 meshing with the third bevel gear 7, and the outer end of the second longitudinal shaft 8 is fixedly connected to the first bevel gear 9. Spur gear 11; the left side of the five-axis housing 10 in front of the second longitudinal axis 8 is rotated to a third longitudinal axis 12, the inner end of the third longitudinal axis 12 is fixed with a fifth bevel gear 13, and the outer end is fixed with the first straight The second spur gear 14 meshed by the gear 11; the projection of the front end of the five-axis housing 10 is the horizontal axis 15 in the front-rear direction, and the inner end of the horizontal axis 15 is fixedly fixed with a sixth bevel gear 16 meshing with the fifth bevel gear 13 .

The outer end of the six-axis input shaft 6 is fixedly connected to a motor or other torque output device. The forward and reverse rotation of the six-axis input shaft 6 drives the second longitudinal axis 8 to rotate in the reverse direction, and the second longitudinal axis 8 drives the third longitudinal axis 12 forward and reverse. Rotation, the third vertical axis 12 drives the horizontal axis 15 to rotate in the reverse direction, and the reverse reverse rotation of the horizontal axis 15 is six axes.

The five-axis housing 10 is fixedly connected with three annular support plates 23, and the five-axis housing 10 and the front and rear two annular support plates 23 are sealed by O-rings 22. The inner rings of the front and rear two annular support plates 23 are connected to the horizontal axis 15 is rotatably supported by two front and rear thrust bearings 21 arranged away from each other.

Embodiment 2 is similar to Embodiment 1 except that: the outer end of the first longitudinal shaft 4 drives the left side of the five-shaft housing 10 through the RV reducer with a gear set. RV reducer is a relatively mature technology, so its specific structure will not be repeated.

The power input end of the fifth and sixth axes adopts a coaxial structure, the power transmission of the fifth and sixth axes is coupled, and the swing of the fifth axis to any position does not affect the rotation of the six axis. Easy to adjust and so on.

In the above embodiment, the five-axis and the six-axis do not represent the physical axis in the traditional sense. The axis here is a common name in the field, and there is no proper word for naming, and the meaning is similar to "dimension", "joint" or "degree of freedom" ".

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (4)

1. A robot end wrist structure, comprising a seat body (1) fixedly connected to the front end of a forearm sleeve, characterized in that: a U-shaped five-axis housing (10) covers the front end of the seat body (1), In the seat body (1), a five-axis input cylinder shaft (2) whose axial direction is the front-rear direction is rotated, and the inner end of the five-axis input cylinder shaft (2) is fixedly connected to the first bevel gear (3), and the axial direction is the left-right direction. The first longitudinal axis (4) is rotated on the right side of the seat body (1), the inner end is fixedly connected to the second bevel gear (5) meshing with the first bevel gear (3), and the outer end is connected to the five-axis housing (10). The right side is fixedly connected or drives the left side of the five-axis housing (10) through a reduction gear set. 2. A robot end wrist structure according to claim 1, characterized in that: a six-axis input shaft (6) coaxial with the five-axis input cylindrical shaft (2) is rotated, and the six-axis input shaft (6) ) is fixedly connected to the third bevel gear (7), and the second longitudinal axis (8) coaxial with the first longitudinal axis (4) is rotated to the left side of the seat body (1) and the five-axis housing (10). , the inner end of the second longitudinal shaft (8) is fixedly connected to the fourth bevel gear (9) meshing with the third bevel gear (7), and the outer end of the second longitudinal shaft (8) is fixedly connected to the first spur gear (11) ; The left side of the five-axis housing (10) in front of the second longitudinal axis (8) is rotated to a third longitudinal axis (12), and the inner end of the third longitudinal axis (12) is fixed with a fifth bevel gear (13), an outer The second spur gear (14) meshing with the first spur gear (11) is fixedly arranged at the end; the projection of the pivot axis of the front end of the five-axis housing (10) is the horizontal axis (15) in the front-rear direction, and the projection of the horizontal axis (15) A sixth bevel gear (16) meshing with the fifth bevel gear (13) is fixed at the inner end. 3 . The robot end wrist structure according to claim 1 , wherein the reduction gear set is a gear set for an RV reducer. 4 . 4. A robot end wrist structure according to claim 1, characterized in that: the five-axis casing (10) is fixedly connected with three annular support plates (23), and the five-axis casing (10) is connected to the front and rear two The space between the two annular support plates (23) is sealed by O-rings (22), and between the inner rings of the two front and rear annular support plates (23) and the transverse shaft (15) are passed through two front and rear thrust bearings (21) arranged in the opposite direction. ) swivel support.

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