CN115405665A - Terminal compound transmission structure and compound transmission structure of explosion-proof robot - Google Patents

Abstract

The embodiment of the disclosure discloses a terminal compound transmission structure and a compound transmission structure of an explosion-proof robot, comprising a wrist joint base, a first joint group, a second wrist joint component and a third wrist joint component, wherein the wrist joint base is provided with a first wrist joint shell, the first wrist joint component comprises a first hollow shaft, a first gear component, a second gear component and a third gear component, the second wrist joint component comprises a second hollow shaft, a fourth gear component, a fifth gear component and a second wrist joint shell, and the third wrist joint component comprises a third hollow shaft, a sixth bevel gear, a fourth hollow shaft and a third wrist joint shell; the first gear assembly, the fourth gear assembly and the sixth bevel gear are sequentially in transmission connection, the second gear assembly, the fifth gear assembly and the third wrist joint shell are sequentially in transmission connection, and the third gear assembly is in transmission connection with the second wrist joint shell; can realize each quill shaft offset, solve outside line and pipeline inconvenient, difficult scheduling problem of knoing.

Description

Terminal compound transmission structure and compound transmission structure of explosion-proof robot

Technical Field

The disclosure relates to the field of explosion-proof robots, in particular to a tail end composite transmission structure and a composite transmission structure of an explosion-proof robot.

Background

The robot is a robot with an explosion-proof function used in a special environment, is mainly applied to the environments which are likely to cause explosion, such as an aircraft spraying workshop and high-speed rail carriage spraying, and is mainly used for spraying operation and replacing manpower to complete some work in flammable and explosive environments; the industrial robot who possesses explosion-proof function, industrial robot equipment has the safety protection level height, characteristics such as protective capacities is strong, can use in some special industrial environment, realize the equipment automation, this robot generally uses in automatic transport etc. in spraying application field and dust workshop, the most extensive 6 industrial robot that are traditional of present market use, but the work of explosion-proof nature can not be competent in generally all to traditional 6 industrial robot under special environment, its design does not possess explosion-proof grade requirement itself.

The inventor finds that the prior art has the technical problems that external wiring is inconvenient and knotting is easy in the process of implementing the embodiment of the disclosure.

Disclosure of Invention

In view of this, the embodiment of the present disclosure provides a terminal composite transmission structure and a composite transmission structure of an explosion-proof robot, which at least partially solve the problems in the prior art that external wiring is inconvenient and knotting is easy.

In a first aspect, the disclosed embodiments provide a terminal composite transmission structure of an explosion-proof robot for spraying an aircraft shell, including:

a wrist base having a first wrist housing, the first wrist housing having an opening;

the first wrist joint component is arranged in the first wrist joint shell and comprises a first hollow shaft, a first gear component, a second gear component and a third gear component which are sequentially sleeved and can relatively rotate along the radial direction outwards; one end of the first hollow shaft is fixedly connected with the wrist joint base;

the second wrist joint component comprises a second hollow shaft, a fourth gear component, a fifth gear component and a second wrist joint shell which are sequentially sleeved and can relatively rotate along the radial direction outwards; one end of the second hollow shaft is rotatably connected to the other end of the first hollow shaft;

the third wrist joint assembly comprises a third hollow shaft, a sixth bevel gear, a fourth hollow shaft and a third wrist joint shell, wherein the sixth bevel gear is sleeved on the periphery of the third hollow shaft in a hollow mode, and the fourth hollow shaft and the third wrist joint shell are fixedly connected to the sixth bevel gear;

the first gear assembly, the fourth gear assembly and the sixth bevel gear are sequentially in transmission connection, the second gear assembly, the fifth gear assembly and the third wrist joint shell are in transmission connection, and the third gear assembly is in transmission connection with the second wrist joint shell;

the second hollow shaft and the third hollow shaft are both of bent tubular structures; first hollow shaft, second hollow shaft, third hollow shaft and fourth hollow shaft rotate in proper order and connect and form confined, and have the inner wall structure of radian along the axial direction, first wrist joint casing, second wrist joint casing and third wrist joint casing rotate in proper order and connect and form confined, and have the outer wall structure of radian along the axial direction.

Optionally, the first gear assembly has a first straight gear, a first gear shaft and a first bevel gear, which are fixedly connected in sequence along the axial direction of the first gear assembly; the second gear assembly is provided with a second straight gear, a second gear shaft and a second bevel gear which are sequentially and fixedly connected along the axial direction of the second gear assembly; the third gear assembly is provided with a third straight gear and a third gear shaft which are fixedly connected, and the third gear shaft is rotatably connected to the open part of the first wrist joint shell;

the fourth gear assembly is provided with a third bevel gear, a fourth gear shaft and a fourth bevel gear which are fixedly connected in sequence along the axial direction of the fourth gear assembly, and the third bevel gear is meshed with the first bevel gear; the fifth gear assembly is provided with a fifth bevel gear and a fifth gear shaft which are fixedly connected in sequence along the axial direction of the fifth gear assembly, and the fifth bevel gear is meshed with the second bevel gear; the second wrist joint shell is of an arc-shaped tubular structure, one end of the second wrist joint shell is fixedly connected to the third gear shaft, and the second wrist joint shell is fixedly connected with the second hollow shaft;

one end of the third hollow shaft is rotatably connected to the other end of the second hollow shaft, one end of the fourth hollow shaft is rotatably connected to the other end of the third hollow shaft, and the sixth bevel gear is meshed with the fourth bevel gear; the third wrist joint casing is of an arc-shaped tubular structure, one end of the third wrist joint casing is rotatably connected to the other end of the second wrist joint casing, the other end of the third wrist joint casing is rotatably connected to the other end of the fourth hollow shaft, and the third wrist joint casing is fixedly connected with the third hollow shaft.

Optionally, a first flange is arranged between the first wrist joint shell and the second wrist joint shell, and the first flange is fixedly connected to the first wrist joint shell and rotatably connected to the third gear shaft.

Optionally, the third gear shaft is of a stepped flange structure, and the maximum outer peripheral surface of the third gear shaft extends outwards along the radial direction of the third gear shaft to be flush with the outer wall surfaces of the first flange and the second wrist joint shell.

Optionally, a sealing structure is arranged between the first flange and the third gear shaft; a sealing structure is arranged between the first flange and the first wrist joint shell; a sealing structure is arranged between the third gear shaft and the second wrist joint shell;

and/or sealing structures are arranged between the first hollow shaft and the second hollow shaft, between the second hollow shaft and the third hollow shaft, and between the third hollow shaft and the fourth hollow shaft;

and/or an end cover is fixedly arranged at the end part of the third wrist joint shell and is rotationally connected with the fourth hollow shaft; and sealing structures are arranged between the end cover and the third wrist joint shell and between the end cover and the fourth hollow shaft.

Optionally, in the first bevel gear, the second bevel gear, the third bevel gear, the fourth bevel gear, the fifth bevel gear, and the sixth bevel gear, an included angle between axes of the engaged bevel gears is 120 °.

Optionally, the second hollow shaft and the second wrist joint shell are of an integral aluminum alloy structure;

and/or the third hollow shaft and the third wrist joint shell are of an integral aluminum alloy structure.

In a second aspect, an embodiment of the present disclosure provides a compound transmission structure of an explosion-proof robot, including the above terminal compound transmission structure; further comprising:

the small arm is provided with a cavity, the cavity of the small arm is communicated with the first hollow shaft, and one end of the small arm is fixedly connected with the wrist joint base;

a first drive assembly comprising: the first driving gear is meshed with the first straight gear;

a second drive assembly comprising: the second driving motor is arranged at the other end of the small arm, the second transmission shaft is in transmission connection with the second driving motor, and the second driving gear is fixedly connected to the second transmission shaft and meshed with the second straight gear;

a third drive assembly comprising: the third driving gear is fixedly connected with the third driving shaft and meshed with the third straight gear;

the first transmission shaft, the second transmission shaft and the third transmission shaft are all located in the cavity of the small arm.

Optionally, the first driving assembly further comprises a first speed reducer, and the first speed reducer is in transmission connection between the first driving motor and the first transmission shaft;

the second driving assembly further comprises a second speed reducer which is in transmission connection between the second driving motor and the second transmission shaft;

the third driving assembly further comprises a third speed reducer, and the third speed reducer is in transmission connection between the third driving motor and the third transmission shaft.

Optionally, the first driving motor, the second driving motor and the third driving motor are all alternating current servo motors;

the first speed reducer, the second speed reducer and the third speed reducer are all planetary speed reducers.

The terminal compound transmission structure and the compound transmission structure of explosion-proof robot that this disclosed embodiment provided, because first gear subassembly, fourth gear subassembly and sixth bevel gear are transmission connection in proper order, promptly: the fourth hollow shaft at the tail end of the sixth bevel gear can be driven to synchronously rotate around the axis of the fourth hollow shaft through the first gear assembly; the second gear assembly, the fifth gear assembly and the third wrist joint shell are in transmission connection, namely: the third wrist joint shell can be driven to rotate around the axis of the second hollow shaft through the second gear assembly; the third gear assembly is in transmission connection with the second wrist joint shell, namely: the second wrist joint shell and the third wrist joint shell are driven to synchronously rotate around the first hollow shaft through a third gear assembly; and then can realize each quill shaft (hollow gear) biasing design, solve outside line and the inconvenient scheduling problem of pipeline of walking, inside has great spatial design spraying, pipelines such as solvent, and is difficult for knoing, can also realize convex structural design, and the surface is excessively slick and sly, and then can solve robot debugging process and external equipment problem of being dry and astringent.

The foregoing is a summary of the present disclosure, and for the purposes of promoting a clear understanding of the technical means of the present disclosure, the present disclosure may be embodied in other specific forms without departing from the spirit or essential attributes thereof.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective structure diagram of a compound transmission structure of an explosion-proof robot according to an embodiment of the present disclosure;

fig. 2 is a schematic cross-sectional structural view of a compound transmission structure of an explosion-proof robot according to an embodiment of the present disclosure;

fig. 3 is a schematic cross-sectional view of a first part of a composite transmission structure of an explosion-proof robot according to an embodiment of the disclosure, which is mainly used for illustrating a forearm structure;

fig. 4 is a schematic cross-sectional view of a second part of a composite transmission structure of an explosion-proof robot according to an embodiment of the present disclosure, which is mainly used for illustrating a structure of a terminal composite transmission structure;

fig. 5 is a schematic structural diagram related to power transmission in a compound transmission structure of an explosion-proof robot according to an embodiment of the present disclosure.

Wherein:

100-wrist joint base;

110-a first wrist joint housing;

200-a first wrist joint assembly;

210-a first hollow shaft;

220-a first gear assembly;

221-a first straight gear; 222-a first gear shaft; 223-a second bevel gear;

230-a second gear assembly;

231-a second spur gear; 232-second gear shaft; 233-second bevel gear;

240-a third gear assembly;

241-a third spur gear; 242-third gear shaft;

300-a second wrist joint assembly;

310-a second hollow shaft;

320-a fourth gear assembly;

321-a third bevel gear; 322-fourth gear shaft; 323-fourth bevel gear;

330-a fifth gear assembly;

331-a fifth bevel gear; 332-fifth gear shaft;

340-a second wrist joint housing;

400-a third wrist joint assembly;

410-a third hollow shaft;

420-sixth bevel gear;

430-a fourth hollow shaft;

440-a third wrist joint housing;

450-end cap;

500-forearm;

511-a first drive motor; 512-first transmission shaft;

513 — a first drive gear; 514-first reducer;

521-a second drive motor; 522-a second drive shaft;

523-a second driving gear; 524-a second reducer;

531-a third drive motor; 532-a third drive shaft;

533-a third driving gear; 534-third reducer;

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant matter and not restrictive of the disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, the features of the various embodiments/examples may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "over," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use methods such as "below 8230; …," ' 8230; \8230, below ' 8230; lower ' or ' at ' 8230; 8230, above ' upper ' or ' at ' 8230, above ' higher ' and ' sides (e.g., such as "in the sidewall," etc., to describe one element's relationship to another element(s) as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "at 8230; \8230;" below "may encompass both an orientation of" above "and" below ". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

The conventional 6-axis robot has less than ideal end flexibility and less than complete motion coverage, and the end composite transmission structure (such as a wrist joint assembly) and the composite transmission structure (such as a small arm assembly) disclosed by the application can cover a wider working area. Because traditional industrial robot wrist (4, 5, 6 joints) motor, speed reducer all place in each axle position, for leading setting, because the motor needs power supply and control signal input, each axle explosion-proof design degree of difficulty is great. And the motor and the reduction gear in the terminal compound transmission structure and the compound transmission structure disclosed by the application are arranged in a rear mode, so that an explosion-proof design can be realized. The details are as follows.

In a first aspect, the disclosed embodiments provide a terminal composite transmission structure of an explosion-proof robot for spraying an aircraft shell, as shown in fig. 1 to 5, the terminal composite transmission structure includes: a wrist joint base 100, a first wrist joint assembly 200, a second wrist joint assembly 300, and a third wrist joint assembly 400.

The wrist base 100 has a first wrist housing 110, the first wrist housing 110 having an opening;

the first wrist joint assembly 200 is disposed in the first wrist joint housing 110, and includes a first hollow shaft 210, a first gear assembly 220, a second gear assembly 230 and a third gear assembly 240 which are sequentially sleeved and can relatively rotate along the radial direction outward; one end of the first hollow shaft 210 is fixedly connected to the wrist joint base 100;

the second wrist joint assembly 300 includes a second hollow shaft 310, a fourth gear assembly 320, a fifth gear assembly 330 and a second wrist joint housing 340, which are sequentially sleeved and can relatively rotate, along the radial direction outwards; one end of the second hollow shaft 310 is rotatably connected to the other end of the first hollow shaft 210;

the third wrist joint assembly 400 comprises a third hollow shaft 410, a sixth bevel gear 420 freely sleeved on the outer periphery of the third hollow shaft 410, a fourth hollow shaft 430 fixedly connected to the sixth bevel gear 420, and a third wrist joint housing 440;

the first gear assembly 220, the fourth gear assembly 320 and the sixth bevel gear are sequentially in transmission connection, the second gear assembly 230, the fifth gear assembly 330 and the third wrist joint shell 440 are in transmission connection, and the third gear assembly 240 is in transmission connection with the second wrist joint shell 340;

the second hollow shaft 310 and the third hollow shaft 410 are both of a bent tubular structure; the first hollow shaft 210, the second hollow shaft 310, the third hollow shaft 410 and the fourth hollow shaft 430 are sequentially and rotatably connected to form a closed inner wall structure having a radian along the axial direction, and the first wrist joint housing 110, the second wrist joint housing 340 and the third wrist joint housing 440 are sequentially and rotatably connected to form a closed outer wall structure having a radian along the axial direction.

In the embodiment of the present disclosure, since the first gear assembly 220, the fourth gear assembly 320 and the sixth bevel gear are sequentially in transmission connection, that is: the fourth hollow shaft 440 at the end of the sixth bevel gear 420 can be driven by the first gear assembly 220 to synchronously rotate around the axis of the fourth hollow shaft 440; the second gear assembly 230, the fifth gear assembly 330 and the third wrist joint housing 440 are in driving connection, namely: the third wrist joint housing 440 can be driven to rotate about the axis of the second hollow shaft 310 by the second gear assembly 230; the third gear assembly 240 is in driving connection with the second wrist joint housing 340, namely: the second wrist joint shell 340 and the third wrist joint shell 440 are driven by the third gear assembly 240 to synchronously rotate around the first hollow shaft 210; and then can realize each quill shaft (hollow gear) offset design, solve outside and walk the inconvenient scheduling problem of line and pipeline, inside has great space design pipeline such as spraying, solvent, and is difficult for knoing, can also realize convex structural design, and the surface is too slick and sly, and then can solve robot debugging process and external equipment problem of being dry and astringent.

In the disclosed embodiment, the first gear assembly 220 has a first straight gear 221, a first gear shaft 222 and a first bevel gear 223 fixedly connected in sequence along the axial direction thereof; the second gear assembly 230 is provided with a second straight gear 231, a second gear shaft 232 and a second bevel gear 233 which are fixedly connected in sequence along the axial direction; the third gear assembly 240 has a third spur gear 241 and a third gear shaft 242 which are fixedly connected, and the third gear shaft 242 is rotatably connected to the open part of the first wrist joint housing 110;

the fourth gear assembly 320 is provided with a third bevel gear 321, a fourth gear shaft 322 and a fourth bevel gear 323 which are fixedly connected in sequence along the axial direction of the fourth gear assembly, and the third bevel gear 321 is meshed with the first bevel gear 223; the fifth gear assembly 330 has a fifth bevel gear 331 and a fifth gear shaft 332 fixedly connected in sequence along the axial direction thereof, and the fifth bevel gear 331 is meshed with the second bevel gear 233; the second wrist joint shell 340 is an arc-shaped tubular structure, one end of the second wrist joint shell 340 is fixedly connected to the third gear shaft 242, and the second wrist joint shell 340 is fixedly connected to the second hollow shaft 310;

one end of the third hollow shaft 410 is rotatably connected to the other end of the second hollow shaft 310, one end of the fourth hollow shaft 430 is rotatably connected to the other end of the third hollow shaft 410, and the sixth bevel gear 420 is engaged with the fourth bevel gear 323; third wrist joint housing 440 is an arc-shaped tubular structure, one end of third wrist joint housing 440 is rotatably connected to the other end of second wrist joint housing 340, the other end of third wrist joint housing 440 is rotatably connected to the other end of fourth hollow shaft 430, and third wrist joint housing 440 is fixedly connected to third hollow shaft 410.

It should be noted that, in the embodiment of the present disclosure, the first straight gear 221, the first gear shaft 222, and the first bevel gear 223 may be provided as an integrated structure, the second straight gear 231, the second gear shaft 232, and the second bevel gear 233 may be provided as an integrated structure, and the third straight gear 241 and the third gear shaft 242 may be provided as an integrated structure.

In the embodiment of the present disclosure, a first flange 120 is disposed between the first wrist joint housing 110 and the second wrist joint housing 340, and the first flange 120 is fixedly connected to the first wrist joint housing 110 and rotatably connected to the third gear shaft 242.

In the embodiment of the present disclosure, the third gear shaft 242 has a stepped flange structure, and the maximum outer peripheral surface thereof extends outward along the radial direction to be flush with the outer wall surfaces of the first flange 120 and the second wrist joint housing 340.

In the disclosed embodiment, a sealing structure is provided between the first flange 120 and the third gear shaft 242; a sealing structure is arranged between the first flange 120 and the first wrist joint shell 110; a sealing structure is arranged between the third gear shaft 242 and the second wrist joint shell 340; sealing structures are arranged between the first hollow shaft 210 and the second hollow shaft 310, between the second hollow shaft 310 and the third hollow shaft 410, and between the third hollow shaft 410 and the fourth hollow shaft 430.

An end cover 450 is fixedly arranged at an end of the third wrist joint housing 440, and the end cover 450 is rotatably connected with the fourth hollow shaft 430. Sealing structures are provided between the end cap 450 and the third wrist joint housing 440 and between the end cap 450 and the fourth hollow shaft 430.

In the embodiment of the present disclosure, in the first bevel gear 223, the second bevel gear 233, the third bevel gear 321, the fourth bevel gear 323, the fifth bevel gear 331, and the sixth bevel gear 420, an included angle between axes of the engaged corresponding bevel gears is 120 °, so that the overall structure is excessively gentle, and the hollow portion of the wrist structure is smoothly routed and the pipeline is smooth.

In the disclosed embodiment, second hollow shaft 310 and second wrist joint housing 340 are of an integral aluminum alloy structure; third hollow shaft 410 and third wrist joint housing 440 are of unitary aluminum alloy construction.

In a second aspect, the disclosed embodiment provides a compound transmission structure of an explosion-proof robot, as shown in fig. 1 to 5, including the above-mentioned terminal compound transmission structure, and a small arm 500, a first driving assembly, a second driving assembly, and a third driving assembly.

In the embodiment of the present disclosure, the small arm 500 has a cavity, the cavity of the small arm 500 is communicated with the first hollow shaft 210, and one end of the small arm 500 is fixedly connected to the wrist joint base 100;

the first drive assembly includes: a first driving motor 511 mounted at the other end of the arm 500, a first transmission shaft 512 in transmission connection with the first driving motor 511, and a first driving gear 513 fixed to the first transmission shaft 512, wherein the first driving gear 513 is engaged with the first straight gear 221;

the second drive assembly includes: a second driving motor 521 mounted at the other end of the small arm 500, a second transmission shaft 522 in transmission connection with the second driving motor 521, and a second driving gear 523 fixedly connected to the second transmission shaft 522, wherein the second driving gear 523 is engaged with the second spur gear 231;

the third drive assembly includes: a third driving motor 531 mounted at the other end of the forearm 500, a third transmission shaft 532 in transmission connection with the third driving motor 531, and a third driving gear 533 fixedly connected to the third transmission shaft 532, the third driving gear 533 being engaged with the third spur gear 241;

first drive shaft 512, second drive shaft 522, and third drive shaft 532 are all located within the cavity of forearm 500.

The composite transmission structure comprises the terminal composite transmission structure, so that all the advantages of the terminal composite transmission structure are achieved, and the detailed description is omitted.

In the embodiment of the present disclosure, the first driving assembly further includes a first speed reducer 514, and the first speed reducer 514 is drivingly connected between the first driving motor 511 and the first transmission shaft 512;

the second driving assembly further comprises a second speed reducer 524, and the second speed reducer 524 is in transmission connection between the second driving motor 521 and the second transmission shaft 522;

the third driving assembly further includes a third reducer 534, and the third reducer 534 is drivingly connected between the third driving motor 531 and the third driving shaft 532.

In the embodiment of the present disclosure, the first driving motor 511, the second driving motor 521, and the third driving motor 531 are all ac servo motors to ensure the precision of closed-loop control.

The first reducer 514, the second reducer 524, and the third reducer 534 are planetary reducers.

In addition, in the embodiment of the disclosure, the gears inside each group of transmission mechanisms are engaged, and each group of transmission mechanisms can be provided with a corresponding bearing, a transfer shaft and a bearing seat for fixing and transmitting torque. Each driving motor and the speed reducer are arranged at the rear, and can transmit torque to the corresponding transmission shaft through the rigid coupling to carry out long-distance transmission, so that the center of gravity of the tail end can be moved backwards. The wrist structural part can adopt casting and machining production processes, and cast aluminum alloy materials are selected, so that the weight of the body is reduced, and the tail end load is increased. The gears in the wrist can be processed by alloy steel, the surface of the gear surface is carburized and quenched after processing, the hardness and the mechanical property of the gear are improved, the gear grinding process is carried out on each surface, the surface smoothness and the precision of the gear are improved, the friction force generated by gear engagement is reduced, the transmission precision is improved, and the service life of the gear is prolonged. The corresponding sealing structure of the wrist transmission can adopt end face sealing and rotary oil sealing.

The working principle of the embodiment of the present disclosure is as follows:

1) The first driving motor 511 is decelerated through the first decelerator 514, and drives the first driving gear 513 to rotate through the first transmission shaft 512, the first driving gear 513 drives the first straight gear 221 and the first bevel gear 223 to synchronously rotate, the first bevel gear 223 drives the third bevel gear 321 and the fourth bevel gear 323 to synchronously rotate, the fourth bevel gear 323 drives the sixth bevel gear 420, the fourth hollow shaft 430 and the executing element (device) on the fourth hollow shaft 430 to synchronously rotate, so as to realize the rotating motion of the executing element around the axis of the fourth hollow shaft 430;

2) The second driving motor 521 is decelerated through the second speed reducer 524, and drives the second driving gear 523 to rotate through the second transmission shaft 522, the second driving gear 523 drives the second spur gear 231 and the second bevel gear 233 to rotate synchronously, the second bevel gear 233 drives the fifth bevel gear 331 and the third hollow shaft 410 to rotate synchronously, and at this time, the fourth hollow shaft 440 and the executing element at the end of the third hollow shaft 410 can rotate around the axis of the third hollow shaft 410; it should be noted that during this rotational movement, the fourth hollow shaft 440 can simultaneously drive the actuator to rotate about the axis of the fourth hollow shaft 430.

3) The third driving motor 531 is decelerated by the third reducer 534 and drives the third driving gear 533 to rotate via the third transmission shaft 532, the third driving gear 533 drives the third spur gear 241 and the second hollow shaft 310 to rotate synchronously, at this time, it is required to say that at the end of the second hollow shaft 310 that, during the rotation, the third hollow shaft 410 can simultaneously drive the fourth hollow shaft 440 and the actuator to rotate around the axis of the third hollow shaft 410, and the fourth hollow shaft 440 can simultaneously drive the actuator to rotate around the axis of the fourth hollow shaft 430.

Wherein, the actuating element or device at the end of the fourth hollow shaft 440 may be a tool holder, such as a spray gun, a rotating cup, etc.

In the embodiment of the present disclosure, the first driving motor 511, the second driving motor 521, and the third driving motor 531 are disposed at the rear end of the forearm 500, that is, a rear design is adopted, so that the positive pressure explosion-proof cavity can be isolated, the driving motor and the corresponding electrical component are far away from the working area, and a positive pressure explosion-proof gas or an inert gas is introduced into the forearm cavity, thereby playing an explosion-proof role. In addition, the driving motor is arranged behind the driving motor, so that the driving motor and corresponding components of the robot can be conveniently subjected to explosion-proof treatment, the center of gravity of the tail end of the robot is moved backwards, the bearing capacity of the tail end is enhanced, and the compact design of the wrist structure of the robot is realized.

In the embodiment of the present disclosure, the hollow shafts are designed to form a curved tubular inner cavity, and the inner cavity is used for cables and pipelines to pass through, i.e., for routing.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are provided merely for clarity of explanation and are not intended to limit the scope of the disclosure. Other variations or modifications may be made to those skilled in the art, based on the above disclosure, and still be within the scope of the present disclosure.

Claims (10)

1. A terminal compound transmission structure of an explosion-proof robot for spraying an aircraft shell is characterized by comprising:

a wrist base (100) having a first wrist housing (110), the first wrist housing (110) having an opening;

the first wrist joint component (200) is arranged in the first wrist joint shell (110) and outwards comprises a first hollow shaft (210), a first gear component (220), a second gear component (230) and a third gear component (240) which are sequentially sleeved and can relatively rotate along the radial direction; one end of the first hollow shaft (210) is fixedly connected to the wrist joint base (100);

the second wrist joint component (300) comprises a second hollow shaft (310), a fourth gear component (320), a fifth gear component (330) and a second wrist joint shell (340) which are sleeved in sequence and can rotate relatively outwards along the radial direction; one end of the second hollow shaft (310) is rotatably connected to the other end of the first hollow shaft (210);

the third wrist joint assembly (400) comprises a third hollow shaft (410), a sixth bevel gear (420) which is freely sleeved on the periphery of the third hollow shaft (410), a fourth hollow shaft (430) which is fixedly connected with the sixth bevel gear (420) and a third wrist joint shell (440);

the first gear assembly (220), the fourth gear assembly (320) and the sixth bevel gear are sequentially in transmission connection, the second gear assembly (230), the fifth gear assembly (330) and the third wrist joint shell (440) are in transmission connection, and the third gear assembly (240) is in transmission connection with the second wrist joint shell (340);

the second hollow shaft (310) and the third hollow shaft (410) are both of a bent tubular structure; first hollow shaft (210), second hollow shaft (310), third hollow shaft (410) and fourth hollow shaft (430) rotate in proper order and connect and form confined, and have the inner wall structure of radian along the axial direction, first wrist joint casing (110), second wrist joint casing (340) and third wrist joint casing (440) rotate in proper order and connect and form confined, and have the outer wall structure of radian along the axial direction.

2. The terminal composite drive structure of claim 1,

the first gear assembly (220) is provided with a first straight gear (221), a first gear shaft (222) and a first bevel gear (223) which are fixedly connected in sequence along the axial direction of the first gear assembly; the second gear assembly (230) is provided with a second straight gear (231), a second gear shaft (232) and a second bevel gear (233) which are sequentially fixedly connected along the axial direction of the second straight gear; the third gear assembly (240) is provided with a third straight gear (241) and a third gear shaft (242) which are fixedly connected, and the third gear shaft (242) is rotatably connected to the open part of the first wrist joint shell (110);

the fourth gear assembly (320) is provided with a third bevel gear (321), a fourth gear shaft (322) and a fourth bevel gear (323) which are fixedly connected in sequence along the axial direction of the fourth gear assembly, and the third bevel gear (321) is meshed with the first bevel gear (223); the fifth gear assembly (330) is provided with a fifth bevel gear (331) and a fifth gear shaft (332) which are fixedly connected in sequence along the axial direction of the fifth gear assembly, and the fifth bevel gear (331) is meshed with the second bevel gear (233); the second wrist joint shell (340) is of an arc-shaped tubular structure, one end of the second wrist joint shell (340) is fixedly connected to the third gear shaft (242), and the second wrist joint shell (340) is fixedly connected with the second hollow shaft (310);

one end of the third hollow shaft (410) is rotatably connected to the other end of the second hollow shaft (310), one end of the fourth hollow shaft (430) is rotatably connected to the other end of the third hollow shaft (410), and the sixth bevel gear (420) is meshed with the fourth bevel gear (323); the third wrist joint shell (440) is of an arc-shaped tubular structure, one end of the third wrist joint shell (440) is rotatably connected to the other end of the second wrist joint shell (340), the other end of the third wrist joint shell (440) is rotatably connected to the other end of the fourth hollow shaft (430), and the third wrist joint shell (440) is fixedly connected with the third hollow shaft (410).

3. The end composite drive structure of claim 2,

a first flange (120) is arranged between the first wrist joint shell (110) and the second wrist joint shell (340), and the first flange (120) is fixedly connected to the first wrist joint shell (110) and is rotatably connected to the third gear shaft (242).

4. The terminal composite drive structure of claim 3,

the third gear shaft (242) is of a stepped flange structure, and the maximum outer peripheral surface of the third gear shaft extends outwards along the radial direction of the third gear shaft to be flush with the outer wall surfaces of the first flange (120) and the second wrist joint shell (340).

5. The end composite drive structure of claim 4,

a sealing structure is arranged between the first flange (120) and the third gear shaft (242); a sealing structure is arranged between the first flange (120) and the first wrist joint shell (110); a sealing structure is arranged between the third gear shaft (242) and the second wrist joint shell (340);

and/or sealing structures are arranged between the first hollow shaft (210) and the second hollow shaft (310), between the second hollow shaft (310) and the third hollow shaft (410), and between the third hollow shaft (410) and the fourth hollow shaft (430);

and/or an end cover (450) is fixedly arranged at the end part of the third wrist joint shell (440), and the end cover (450) is rotationally connected with the fourth hollow shaft (430); sealing structures are arranged between the end cover (450) and the third wrist joint shell (440) and between the end cover (450) and the fourth hollow shaft (430).

6. The terminal composite transmission structure according to any one of claims 2 to 5,

in the first bevel gear (223), the second bevel gear (233), the third bevel gear (321), the fourth bevel gear (323), the fifth bevel gear (331) and the sixth bevel gear (420), the included angle of the axes of the engaged corresponding bevel gears is 120 degrees.

7. The final composite drive structure according to any one of claims 2 to 5,

the second hollow shaft (310) and the second wrist joint shell (340) are of an integral aluminum alloy structure;

and/or the third hollow shaft (410) and the third wrist joint shell (440) are of an integral aluminum alloy structure.

8. A compound transmission structure of an explosion-proof robot, which is characterized by comprising the terminal compound transmission structure of any one of claims 2 to 7; further comprising:

the small arm (500) is provided with a cavity, the cavity of the small arm (500) is communicated with the first hollow shaft (210), and one end of the small arm (500) is fixedly connected with the wrist joint base (100);

a first drive assembly comprising: the first driving motor (511) is arranged at the other end of the small arm (500), the first transmission shaft (512) is in transmission connection with the first driving motor (511), and the first driving gear (513) is fixedly connected to the first transmission shaft (512), and the first driving gear (513) is meshed with the first straight gear (221);

a second drive assembly comprising: a second driving motor (521) mounted at the other end of the small arm (500), a second transmission shaft (522) in transmission connection with the second driving motor (521), and a second driving gear (523) fixedly connected to the second transmission shaft (522), wherein the second driving gear (523) is meshed with the second spur gear (231);

a third drive assembly comprising: a third driving motor (531) mounted at the other end of the small arm (500), a third transmission shaft (532) in transmission connection with the third driving motor (531), and a third driving gear (533) fixedly connected to the third transmission shaft (532), wherein the third driving gear (533) is meshed with the third straight gear (241);

the first transmission shaft (512), the second transmission shaft (522) and the third transmission shaft (532) are all located in the cavity of the small arm (500).

9. The compound transmission structure as claimed in claim 8,

the first driving assembly further comprises a first speed reducer (514), and the first speed reducer (514) is in transmission connection between the first driving motor (511) and the first transmission shaft (512);

the second driving assembly further comprises a second speed reducer (524), and the second speed reducer (524) is in transmission connection between the second driving motor (521) and the second transmission shaft (522);

the third driving assembly further comprises a third speed reducer (534), and the third speed reducer (534) is in transmission connection between the third driving motor (531) and the third transmission shaft (532).

10. The compound transmission structure as claimed in claim 9,

the first driving motor (511), the second driving motor (521) and the third driving motor (531) are all alternating current servo motors;

the first speed reducer (514), the second speed reducer (524) and the third speed reducer (534) are all planetary speed reducers.

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