CN116533266A - Heavy-load industrial robot and calculation method for gap adjustment - Google Patents
Heavy-load industrial robot and calculation method for gap adjustment Download PDFInfo
- Publication number
- CN116533266A CN116533266A CN202310610020.XA CN202310610020A CN116533266A CN 116533266 A CN116533266 A CN 116533266A CN 202310610020 A CN202310610020 A CN 202310610020A CN 116533266 A CN116533266 A CN 116533266A
- Authority
- CN
- China
- Prior art keywords
- axis
- input
- shaft
- heavy
- industrial robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 21
- 230000006835 compression Effects 0.000 claims abstract description 74
- 238000007906 compression Methods 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims description 79
- 230000005540 biological transmission Effects 0.000 claims description 39
- 238000000034 method Methods 0.000 claims description 19
- 230000008901 benefit Effects 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 230000007704 transition Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Computational Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Algebra (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a heavy-load industrial robot and a calculation method for gap adjustment. The calculation method for gap adjustment of the heavy-load industrial robot comprises the following steps: s1: providing a heavy-load industrial robot; s2: acquiring an engagement angle and a pressure angle of an input conical gear; s3: calculating the normal force generated by the input conical gear at the middle point of the tooth face width on the section conical surface; s4: calculating an axial force generated on the tooth surface of the input bevel gear according to the engagement angle, the pressure angle and the normal force; s5: calculating a first compression length of the compression spring; s6: and selecting a compression spring with proper elastic coefficient k and original length according to the axial force and the first compression length, so that the first elastic force generated by the compression spring is larger than or equal to the axial force of the shaft teeth. The calculation method for the five-six-axis structure and the gap adjustment of the heavy-load industrial robot has the advantages of simplicity in debugging, convenience in maintenance and high operation stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a heavy-load industrial robot and a calculation method for gap adjustment.
Background
In the field of heavy-load robots, in order to reduce the load rate of a motor at an arm part, a rear-mounted structure of the motor is generally adopted for four-five-six shafts so as to reduce the weight of the tail end of the robot, and therefore, the five-six shafts are all driven by adopting a bevel gear structure. Because the bevel gear transmission part involves more structural members, the accumulated deviation of machining and assembly is larger finally, and the precision requirement required by bevel gear transmission cannot be met. Moreover, related workpieces of the heavy-load robot are large and heavy, machining precision is difficult to ensure, so that the matching precision of a bevel gear structure is poor, the problem that the bevel gear is dead due to too small matching clearance of the bevel gear and the bevel gear transmission has clearance due to too large matching clearance of the bevel gear is easily caused, and the deviation caused by machining is supplemented in the traditional five-six-axis structure in a mode of using gaskets for many times. For example, the transmission gap between the input shaft and the output shaft needs to be adjusted through the accurate thickness of the gasket, the disassembly test needs to be repeated in adjustment, and the disassembly maintenance is still needed after the looseness occurs in the later stage. Therefore, the traditional gasket adjusting mode has the defects of complicated early adjustment and inconvenient later maintenance.
Disclosure of Invention
Based on the above, the invention aims to provide a heavy-load industrial robot and a calculation method for gap adjustment, wherein a compression spring is arranged at a power input end, a transmission gap between the power output end and the power input end is adjusted by the compression spring, and the stability of the gap is ensured to be maintained by the compression spring in the operation process through calculating and selecting the compression spring, and the phenomenon of tooth jump is avoided.
The invention is realized by the following scheme:
in a first aspect, the present application provides a five-six axis structure of a heavy-load industrial robot, including a five-axis body, a six-axis body, a power output end and a power input end, wherein the power output end is disposed in the six-axis body, the power input end is disposed in the five-axis body, the power output end is connected with the power input end, and the power output end drives the power input end;
the power output end is provided with an output conical gear, the power input end is provided with an input conical gear, the power output end and the power input end are in meshed transmission through the output conical gear and the input conical gear, the power input end is provided with a compression spring, and the compression spring is used for adjusting a transmission gap between the output conical gear and the input conical gear;
the power input end comprises a five-axis input mechanism and a six-axis input mechanism, and the power output end comprises a five-axis output mechanism and a six-axis first output mechanism; the five-axis input mechanism comprises a five-axis input shaft and a five-axis compression spring, the five-axis output mechanism comprises a five-axis output shaft, and the five-axis compression spring is sleeved on the five-axis input shaft and is used for adjusting a transmission gap between the five-axis input shaft and the five-axis output shaft;
the six-axis input mechanism comprises a six-axis input shaft and a six-axis compression spring, the six-axis first output mechanism comprises a six-axis output shaft, and the six-axis compression spring is sleeved on the six-axis input shaft and used for adjusting a transmission gap between the six-axis input shaft and the six-axis output shaft.
In a second aspect, the present application further provides a method for calculating gap adjustment of a heavy-load industrial robot, including the steps of:
s1: providing a heavy duty industrial robot according to the first aspect;
s2: obtaining the engagement angle delta of the input bevel gear 1 And pressure angle alpha 1 ；
S3: calculating the normal force F generated by the input conical gear at the middle point of the tooth face width on the joint conical surface t1 ；
S4: according to the engagement angle delta 1 Angle of pressure alpha 1 Normal force F t1 Calculating the axial force F generated on the tooth surface of the input bevel gear 1 ；
S5: calculating a first compression length L of the compression spring 1 ；
S6: according to axial force F 1 And a first compressed length L 1 Selecting proper elasticity coefficient k and original length L 0 The compression spring is arranged to generate a first elastic force F Bullet 1 Greater than or equal to the axial force F of the shaft teeth 1 。
Further, step S3 further includes the steps of:
s31: obtaining the number z of teeth of the input bevel gear 1 Sum modulus m 1 And average load torque T of normal load of the tooth shaft 1 ；
S32: according to the number z of teeth 1 Modulus m 1 And torque T 1 Calculating the normal force F generated by the input conical gear at the middle point of the tooth face width on the joint conical surface t1 。
Further, step S5 further includes the steps of:
s51: measuring an error value of the output conical gear at the axial position;
s52: according to the error value and the engagement angle delta 1 Calculating a first compression length L of the compression spring 1 。
Further, the normal force F is calculated in step S32 using the following formula t1 ：
Wherein θ k Take a value of 1/3.
Further, the axial force F is calculated in step S4 using the following formula 1 ：
Further, the first elastic force F is calculated in step S6 using the following formula Bullet 1 ：
F Bullet 1 ＝k(L 0 -L 1 )。
Further, when the robot is impacted, the method further comprises the following steps:
s71, obtaining the second compression length L of the compression spring during impact 2 ；
S72, calculating the second elastic force F generated by the selected compression spring during impact Bullet 2 Ensure the second elastic force F at the time of impact Bullet 2 Greater than or equal to the axial force F of the shaft teeth 1 。
Further, in order to avoid the gear from jumping teeth when the power input end is impacted, the method further comprises the following steps:
first compressed length L 1 And a second compressed length L 2 The difference between them is less than 1mm.
Further, the second elastic force F is calculated in step S72 using the following formula Bullet 2 ：
F Bullet 2 ＝k(L 0 -L 2 )。
The calculation method for the five-six-axis structure and the gap adjustment of the heavy-load industrial robot has the following beneficial effects:
1. the five-axis input mechanism and the six-axis input mechanism adopt an integrated structural design, the five-axis input mechanism and the six-axis input mechanism check the size conditions of the five-axis output mechanism and the six-axis first output mechanism before assembly, and the five-axis gap adjusting assembly and the six-axis gap adjusting assembly are adjusted simultaneously to synchronously adjust the gap of the five-axis and the six-axis, so that the six-axis gap adjusting mechanism has the advantage of simplicity in debugging.
2. The transmission gap between the five shafts and the six shafts is adjusted by pushing the five-shaft input gear shaft and the six-shaft input gear shaft through the elastic piece, so that the transmission gap can be adjusted before the elastic piece is assembled as long as the elastic piece is calculated and selected, repeated disassembly and debugging are not needed by using a gasket, and the assembled debugging is more convenient.
3. If the structure is loose in the subsequent use process, the elasticity of the gap and the elastic piece is changed, the structure is not required to be disassembled, the five-axis adjusting rod is used for pushing the teeth of the five-axis adjusting piece through the first opening A, or the six-axis adjusting rod is used for pushing the teeth of the six-axis adjusting piece through the second opening, and the adjustment of the transmission gap and the tension of the elastic piece can be completed.
4. When the end of the robot is impacted greatly, the spring is compressed to buffer the gear from displacement at a small angle, so that hard impact of the gear and other workpieces is reduced, and the service life is prolonged.
5. Calculating axial force F generated on tooth surface of bevel gear during normal belt running by data of bevel gear 1 According to the axial force F 1 SelectingSuitable elastic coefficient k and original length L 0 The compression spring is arranged to generate a first elastic force F Bullet 1 Greater than or equal to the axial force F of the shaft teeth 1 So that the toothed shaft is always subjected to a force F greater than the axial force F during operation 1 First elastic force F of compression spring of (2) Bullet 1 The gap for maintaining transmission is pushed, so that the gear shaft is maintained to run under the condition that the gap is avoided to be formed between the gear shaft by using the gasket, and the advantage of improving running stability is achieved.
Drawings
Fig. 1 is a perspective front view of a five-six axis structure of a heavy load industrial robot according to an embodiment of the present invention.
Fig. 2 is a perspective rear view of a five-six axis structure of a heavy load industrial robot according to an embodiment of the present invention.
Fig. 3 is an internal structural view of a five-six axis structure of a heavy load industrial robot according to an embodiment of the present invention.
Fig. 4 is a sectional view showing an internal structure of a five-six axis structure of a heavy load industrial robot according to an embodiment of the present invention.
Fig. 5 is a model selection flowchart of a calculation method of gap adjustment of a heavy-duty industrial robot according to an embodiment of the present invention.
Fig. 6 is a normal force calculation flowchart of a calculation method of gap adjustment of a heavy-duty industrial robot according to an embodiment of the present invention.
Fig. 7 is a first compressed length calculation flowchart of a calculation method of gap adjustment of a heavy-duty industrial robot according to an embodiment of the present invention.
Fig. 8 is a flow chart of the impact time model selection of the calculation method of the gap adjustment of the heavy-load industrial robot according to the embodiment of the invention.
Reference numerals: five-axis body 100, bearing fixing plate 110, first cover plate 120, second cover plate 130, first opening 100A, second opening 100B, six-axis body 200;
the five-axis input mechanism 300, a five-axis input shaft 310, a first conical gear 311, a five-axis clearance adjustment assembly 320, a five-axis compression spring 321, a five-axis lock nut 322, a five-axis adjustment lever 323, a five-axis adjustment gear 324, and a five-axis bearing 330;
six-axis input mechanism 400, six-axis input shaft 410, third conical gear 411, six-axis gap adjustment assembly 420, six-axis compression spring 421, six-axis lock nut 422, six-axis adjustment lever 423, six-axis adjustment gear 424, six-axis bearing 430;
a five-axis output mechanism 500, a five-axis output shaft 510, a second bevel gear 511, and a five-axis speed reducer 520;
a six-axis first output mechanism 600, a six-axis speed reducer 610, a fourth conical gear 611, a six-axis transition shaft 620, a fifth conical gear 621, a gear assembly 630, a six-axis output shaft 640, and a sixth conical gear 641.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
It should be understood that the described embodiments are merely some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the embodiments of the present application, are within the scope of the embodiments of the present application.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
In view of the technical problems in the background art, in a first aspect, the present invention provides a five-six axis structure of a heavy-load industrial robot, as shown in fig. 1 and 3, including a five-axis body 100, a six-axis body 200, a power output end and a power input end, wherein the power output end is disposed in the six-axis body 200, the power input end is disposed in the five-axis body 100, the power output end is connected with the power input end, and the power output end drives the power input end;
the power output end is provided with an output bevel gear, the power input end is provided with an input bevel gear, the power output end and the power input end are in meshed transmission through the output bevel gear and the input bevel gear, the power input end is provided with a compression spring, and the compression spring is used for adjusting a transmission gap between the output bevel gear and the input bevel gear.
Specifically, the power input end includes a five-axis input mechanism 300 and a six-axis input mechanism 400, the power output end includes a five-axis output mechanism 500 and a six-axis first output mechanism 600, the five-axis output mechanism 500 and the six-axis first output mechanism 600 are respectively disposed in two sides of the six-axis body 200, the five-axis body 100 is disposed between the five-axis output mechanism 500 and the six-axis first output mechanism 600, the five-axis body 100 is rotatably provided with the five-axis input mechanism 300 and the six-axis input mechanism 400, the five-axis input mechanism 300 is sleeved on the six-axis input mechanism 400, the five-axis input mechanism 300 drives the five-axis output mechanism 500, and the six-axis input mechanism 400 drives the six-axis first output mechanism 600.
As shown in fig. 3 and 4, the five-axis input mechanism 300 includes a five-axis input gear shaft 310 and a five-axis gap adjustment assembly 320, the six-axis input mechanism 400 includes a six-axis input gear shaft 410 and a six-axis gap adjustment assembly 420, the five-axis output mechanism 500 includes a five-axis output gear shaft 510, the six-axis first output mechanism 600 includes a six-axis output gear shaft 610, the five-axis gap adjustment assembly 320 is used to adjust a transmission gap between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, and the six-axis gap adjustment assembly 420 is used to adjust a transmission gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610.
In the structure of the five-axis and six-axis industrial robot with heavy load in this embodiment, the five-axis input mechanism 300 in the five-axis body 100 transmits power to one side of the six-axis body 200 to drive the five-axis output mechanism 500, and the six-axis input mechanism 400 in the five-axis body 100 transmits power to the other side of the six-axis body 200 to drive the six-axis first output mechanism 600, wherein the five-axis input mechanism 300 in the five-axis body 100 is sleeved on the six-axis input mechanism 400 to form a whole. Specifically, power transmission can be performed between the five-axis input mechanism 300 and the five-axis output mechanism 500, and between the six-axis input mechanism 400 and the six-axis first output mechanism 600 by means of gear transmission, that is, a certain transmission gap is formed between the five-axis output gear shaft 510 and the five-axis input gear shaft 310, and between the six-axis output gear shaft 610 and the six-axis input gear shaft 410, and in order to adjust the transmission gap, the gap is adjusted by providing the five-axis gap adjusting assembly 320 and the six-axis gap adjusting assembly 420 on the five-axis input gear shaft 310.
In the five-six axis structure of the heavy-load industrial robot according to the embodiment, the five-axis input mechanism 300 and the six-axis input mechanism 400 are designed in an integrated structure, the five-axis input mechanism 300 and the six-axis input mechanism 400 are used for checking the size conditions of the five-axis output mechanism 500 and the six-axis first output mechanism 600 before assembly, and the five-axis gap adjustment assembly 320 and the six-axis gap adjustment assembly 420 are adjusted simultaneously to synchronously adjust the gaps of the five-axis and the six-axis, so that the heavy-load industrial robot has the advantage of simple debugging.
Specifically, as shown in fig. 3 and 4, the five-axis input gear shaft 310 is provided with a first bevel gear 311 at an end near the five-axis output mechanism 500. The five-axis output mechanism 500 further comprises a five-axis speed reducer 520, one end of the five-axis output gear shaft 510 is connected with the output end of the five-axis speed reducer 520, a second conical gear 511 is arranged at the other end of the five-axis output gear shaft, the five-axis input gear shaft 310 and the five-axis output gear shaft 510 are vertically arranged, and the first conical gear 311 and the second conical gear 511 are in meshed transmission. Since the five-axis input mechanism 300 and the five-axis output mechanism 500 are driven by gears, a first conical gear 311 is arranged at one end, a second conical gear 511 meshed with the first conical gear 311 is arranged on the five-axis output gear 510, and the five-axis input gear 310 drives the five-axis output gear 510 to rotate, so that power is transmitted from the five-axis output gear 510 to the five-axis speed reducer 520.
Further, as shown in fig. 3 and 4, the six-axis input gear shaft 410 is provided with a third bevel gear 411 at one end near the six-axis first output mechanism 600; the six-axis input gear shaft 410 and the six-axis output gear shaft 610 are vertically arranged, and one end of the six-axis output gear shaft 610 is provided with a sixth conical gear 611 which is meshed with the third conical gear 411 for transmission. The six-shaft second output mechanism 800 comprises a six-shaft speed reducer 810 and a six-shaft transition shaft 820, one end of the six-shaft output gear shaft 610, which is opposite to the sixth conical gear 611, is connected with the gear assembly 700, the gear assembly 700 is also connected with one end of the six-shaft transition shaft 820, the other end of the six-shaft transition shaft 820 is provided with a fifth conical gear 821, and the fifth conical gear 821 is in meshed transmission with a fourth conical gear 811 arranged on the six-shaft speed reducer 810. Since the six-axis input mechanism 400 and the six-axis first output mechanism 600 are transmitted through gears, a third bevel gear 411 is provided at one end of the six-axis input gear shaft 410, a sixth bevel gear 611 engaged with the six-axis output gear shaft 610 is provided, and between the six-axis output gear shaft 610 and the six-axis speed reducer 810, a gear assembly 700 and a six-axis transition shaft 820 are provided, so that power is transmitted from the six-axis output gear shaft 610 to the six-axis speed reducer 810.
In order to fix the five-axis input mechanism 300 and the six-axis input mechanism 400 in the five-axis body 100, as shown in fig. 3 and 4, a bearing fixing plate 110 is fixedly arranged in the inner cavity of the five-axis body 100, two five-axis bearings 330 are clamped in the bearing fixing plate 110, and the five-axis input gear shaft 310 is slidably clamped in the inner ring of the five-axis bearings 330. The five-axis input gear shaft 310 is of a hollow penetrating structure, two six-axis bearings 430 are clamped in a hollow cavity of the five-axis input gear shaft 310, and the six-axis input gear shaft 410 can slide through an inner ring of the six-axis bearings 430. By disposing the bearing fixing plate 110 in the five-axis body 100 and then clamping the five-axis bearing 330 in the bearing fixing plate 110, the five-axis input gear shaft 310 passes through the five-axis bearing 330 to define a position, and the six-axis bearing 430 is disposed in the hollow cavity of the five-axis input gear shaft 310, and the six-axis input gear shaft 410 passes through the six-axis bearing 430 to define a position.
In order to more conveniently adjust the gap between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, as shown in fig. 3 and 4, the five-axis gap adjustment assembly 320 includes a five-axis elastic member 321 and a five-axis adjustment member 322, wherein the five-axis elastic member 321 is disposed between the first conical gear 311 and the five-axis bearing 330, one end of the five-axis elastic member 321 abuts against the five-axis bearing 330, and the other end abuts against the first conical gear 311. The other five-axis bearing 330 is provided with a five-axis adjusting member 322 on a side remote from the first conical gear 311, and the five-axis adjusting member 322 is screw-mounted on the five-axis input gear shaft 310. By providing the five-axis elastic member 321 between the first conical gear 311 and the five-axis bearing 330, the five-axis elastic member 321 generates a thrust force to the five-axis output gear shaft 510 on the five-axis input gear shaft 310, and the five-axis adjusting member 322 is mounted at the other end of the five-axis input gear shaft 310 and is abutted against the five-axis bearing 330 to thereby define a limit interval between the five-axis input gear shaft 310 and the five-axis output gear shaft 510. The five-axis elastic member 321 is selected by calculation, so that the elastic force generated by the five-axis elastic member 321 is the same as the axial force generated when the five-axis input gear shaft 310 rotates, thereby maintaining the gap between the five-axis input gear shaft 310 and the five-axis output gear shaft 510 and avoiding the phenomena of tooth striking or tooth slipping.
Further, in order to more conveniently adjust the gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610, as shown in fig. 3 and 4, the six-axis gap adjustment assembly 420 includes a six-axis elastic member 421 and a six-axis adjustment member 422, and a six-axis elastic member 421 is disposed between the third conical gear 411 and the six-axis bearing 430, and one end of the six-axis elastic member 421 abuts against the six-axis bearing 430, and the other end abuts against the third conical gear 411. The other six-axis bearing 430 is provided with a six-axis adjusting member 422 at a side remote from the third bevel gear 411, and the six-axis adjusting member 422 is screw-mounted on the six-axis input gear shaft 410. By providing the six-axis elastic member 421 between the third bevel gear 411 and the six-axis bearing 430, the six-axis elastic member 421 generates a thrust force to the six-axis output gear shaft 610 on the six-axis input gear shaft 410, and the six-axis adjusting member 422 is mounted at the other end of the six-axis input gear shaft 410 so as to define a limit gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610 by abutting against the six-axis bearing 430. The six-axis elastic member 421 is selected by calculation, so that the elastic force generated by the six-axis elastic member 421 is the same as the axial force generated when the six-axis input gear shaft 410 rotates, thereby maintaining the gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610 and avoiding the phenomena of tooth striking or tooth slipping.
According to the five-six-axis structure of the heavy-load industrial robot, the elastic piece is adopted to push the five-axis input gear shaft 310 and the six-axis input gear shaft 410 to adjust the transmission gap between the five-axis input gear shaft and the six-axis input gear shaft, so that the transmission gap can be adjusted before assembly as long as the elastic piece is subjected to calculation and selection, and repeated disassembly and debugging are not needed by using a gasket.
Preferably, as shown in fig. 2 to 4, the five-axis gap adjusting assembly 320 further includes a five-axis adjusting rod 323, teeth are disposed on an outer surface of the five-axis adjusting member 322, a machine screw for locking is disposed on the five-axis adjusting member 322, a first opening 100A is disposed on the five-axis body 100, and the five-axis adjusting rod 323 can abut against the teeth of the five-axis adjusting member 322 through the first opening 100A. After the machine screw of the five-axis adjusting piece 322 is loosened and unlocked by forming the first opening 100A on the five-axis body 100, the five-axis adjusting piece 322 can be pushed to rotate by using the five-axis adjusting rod 323 through the first opening 100A, so that the five-axis adjusting piece 322 moves to adjust the limiting position of the five-axis input gear shaft 310, and then the machine screw of the five-axis adjusting piece 322 is locked to complete adjustment of transmission clearance and tension of the elastic piece.
Preferably, as shown in fig. 2 to 4, the six-axis gap adjusting assembly 420 further includes a six-axis adjusting rod 423, teeth are disposed on an outer surface of the six-axis adjusting member 422, the six-axis adjusting member 422 is provided with a machine screw for locking, the five-axis body 100 is provided with a second opening 100B, and the six-axis adjusting rod 423 can abut against the teeth of the six-axis adjusting member 422 through the second opening 100B. After the machine screw of the six-axis adjusting piece 422 is loosened and unlocked by forming the second opening 100B on the five-axis body 100, the six-axis adjusting piece 422 can be pushed to rotate by using the six-axis adjusting rod 423 through the second opening 100B, so that the six-axis adjusting piece 422 moves to adjust the limiting position of the six-axis input gear shaft 410, and then the machine screw of the six-axis adjusting piece 422 is locked to complete adjustment of the transmission clearance and the tension of the elastic piece.
According to the five-six-axis structure of the heavy-load industrial robot, if the structure is loosened in the subsequent use process, the elasticity of the gap and the elastic piece is changed, the structure is not required to be disassembled, the five-axis adjusting rod 323 is used for pushing teeth of the five-axis adjusting piece 322 through the first opening 100A, or the six-axis adjusting rod 423 is used for pushing teeth of the six-axis adjusting piece 422 through the second opening 100B, the transmission gap and the tension of the elastic piece can be adjusted, and the device has the advantage of convenience in maintenance.
Preferably, as shown in fig. 2 to 4, the five-axis body 100 is further provided with a first opening and a second opening, the first opening and the second opening are disposed corresponding to the five-axis adjusting member 322 and the six-axis adjusting member 422, and the first opening and the second opening are respectively covered with the first cover plate 120 and the second cover plate 130. By providing the first opening and the second opening, the condition inside the five-axis body 100 can be conveniently observed when the gap is adjusted by using the five-axis adjusting rod 323 and the six-axis adjusting rod 423.
Preferably, the five-axis elastic member 321 is a first compression spring, the first compression spring is sleeved between the first conical gear 311 and the five-axis bearing 330, one end of the first compression spring abuts against the five-axis bearing 330, and the other end abuts against the first conical gear 311. The six-axis elastic member 421 is a second compression spring, the second compression spring is sleeved between the third conical gear 411 and the six-axis bearing 430, one end of the second compression spring abuts against the six-axis bearing 430, and the other end abuts against the third conical gear 411. The compression springs are used as the five-axis elastic piece 321 and the six-axis elastic piece 421, when the tail end of the robot is impacted greatly, the springs are compressed, the gears are directly subjected to displacement buffering at a small angle, hard impact of the gears and other workpieces is reduced, and the service life is prolonged.
On the other hand, the application also provides a calculation method for adjusting the gap of the heavy-load industrial robot, which is the industrial robot in the embodiment, and the compression spring is arranged at the power input end, so that the transmission gap between the power output end and the power input end is adjusted by using the compression spring. As shown in fig. 5, the method comprises the steps of:
s1: providing the heavy-load industrial robot according to the above embodiment;
s2: obtaining the engagement angle delta of the input bevel gear 1 And pressure angle alpha 1 ；
S3: calculating the normal force F generated by the input conical gear at the middle point of the tooth face width on the joint conical surface t1 ；
S4: according to the engagement angle delta 1 Angle of pressure alpha 1 Normal force F t1 Calculated on the tooth surface of the input bevel gearAxial force F generated on 1 ；
S5: calculating a first compression length L of the compression spring 1 ；
S6: according to axial force F 1 And a first compressed length L 1 Selecting proper elasticity coefficient k and original length L 0 The compression spring is arranged to generate a first elastic force F Bullet 1 Greater than or equal to the axial force F of the shaft teeth 1 。
The calculation method for gap adjustment of a heavy-duty industrial robot according to the embodiment calculates an axial force F generated on a bevel gear surface during normal belt running by using data of a bevel gear 1 According to the axial force F 1 Selecting proper elasticity coefficient k and original length L 0 The compression spring is arranged to generate a first elastic force F Bullet 1 Greater than or equal to the axial force F of the shaft teeth 1 So that the toothed shaft is always subjected to a force F greater than the axial force F during operation 1 First elastic force F of compression spring of (2) Bullet 1 The gap for maintaining transmission is pushed, so that the gear shaft is maintained to run under the condition that the gap is avoided to be formed between the gear shaft by using the gasket, and the advantage of improving running stability is achieved.
Specifically, as shown in FIG. 6, in step S3, the method further comprises the step of calculating the normal force F generated by the input bevel gear at the midpoint of the face width on the pitch cone t1 ：
S31: obtaining the number z of teeth of the input bevel gear 1 Sum modulus m 1 And average load torque T of normal load of the tooth shaft 1 ；
S32: according to the number z of teeth 1 Modulus m 1 And torque T 1 Calculating the normal force F generated by the input conical gear at the middle point of the tooth face width on the joint conical surface t1 。
By obtaining the number z of teeth 1 Modulus m 1 And torque T 1 Calculating to obtain normal force F generated by the input conical gear at the middle point of the tooth face width on the pitch conical surface t1 。
Specifically, as shown in fig. 7, the step S5 further includes the steps of calculating the first compression springA compressed length L 1 ：
S51: measuring an error value of the output conical gear at the axial position;
s52: according to the error value and the engagement angle delta 1 Calculating a first compression length L of the compression spring 1 。
Because the output conical gear has errors in the processing process, the axial position of the input conical gear meshed with the output conical gear cannot be determined, so that the error value of the output conical gear in the axial position needs to be measured, and the error value and the meshing angle delta are utilized according to the position relation of the input conical gear and the output conical gear 1 Calculating a first compression length L of the compression spring 1 。
Preferably, the normal force F is calculated in step S32 using the formula t1 ：
Wherein θ in the formula k Take a value of 1/3.z 1 For the number of teeth obtained in step S31, m 1 For the modulus obtained in step S31, T 1 The average load torque of the normal load of the tooth shaft acquired in step S31.
Preferably, the axial force F is calculated in step S4 using the formula 1 ：
Wherein alpha is 1 For the pressure angle, delta, obtained in step S1 1 The engagement angle of the input bevel gear acquired in step S1. In step S6, the first elastic force F is calculated using the following formula Bullet 1 ：
F Bullet 1 ＝k(L 0 -L 1 )。
Where k is the spring constant, L, of the selected compressed spring 0 To the original length of the selected compression spring.
In a preferred embodiment, as shown in fig. 8, when the robot is impacted, the input gear shaft is displaced due to the impact, and in order to protect the compression spring from stable operation when the robot is impacted, the method further comprises the following steps:
s71, obtaining the second compression length L of the compression spring during impact 2 ；
S72, calculating the second elastic force F generated by the selected compression spring during impact Bullet 2 Ensure the second elastic force F at the time of impact Bullet 2 Greater than or equal to the axial force F of the shaft teeth 1 。
Wherein the second compressed length L 2 Can be obtained by experiments according to the maximum impact force which can be received by the robot, and then the second elastic force F is calculated Bullet 2 Ensure the second elastic force F at the time of impact Bullet 2 Greater than or equal to the axial force F of the shaft teeth 1 The running clearance can be maintained.
Preferably, in order to avoid the gear from jumping teeth when the power input end is impacted, the method further comprises the following steps:
first compressed length L 1 And a second compressed length L 2 The difference between them is less than 1mm. If the spring compression amount at the time of impact and the compression amount under normal conditions differ too much, a tooth jump phenomenon may occur, which can be avoided by limiting the compression ratio at the time of impact.
Preferably, the second elastic force F is calculated in step S72 using the following formula Bullet 2 ：
F Bullet 2 ＝k(L 0 -L 2 )。
Wherein L is 2 A second compressed length of the compression spring upon impact.
The five-six-axis structure of the heavy-load industrial robot has the following beneficial effects:
1. the five-axis input mechanism 300 and the six-axis input mechanism 400 are designed in an integrated structure, the five-axis input mechanism 300 and the six-axis input mechanism 400 are used for checking the size conditions of the five-axis output mechanism 500 and the six-axis first output mechanism 600 before assembly, and the five-axis gap adjusting assembly 320 and the six-axis gap adjusting assembly 420 are adjusted simultaneously to synchronously adjust the gap of the five-axis and the six-axis, so that the six-axis gap adjusting device has the advantage of simplicity in debugging.
2. By adopting the elastic piece to push the five-axis input gear shaft 310 and the six-axis input gear shaft 410 so as to adjust the transmission gap between the five shafts and the six shafts, the transmission gap can be adjusted before the elastic piece is assembled as long as the elastic piece is calculated and selected, and the gasket is not required to be used for repeated disassembly and debugging, so that the assembled debugging is more convenient.
3. If the structure is loosened in the subsequent use process, the elasticity of the gap and the elastic piece is changed, the structure is not required to be disassembled, the five-axis adjusting rod 323 is used for pushing teeth of the five-axis adjusting piece 322 through the first opening 100A, or the six-axis adjusting rod 423 is used for pushing teeth of the six-axis adjusting piece 422 through the second opening 100B, so that the adjustment of the transmission gap and the tension of the elastic piece can be completed, and the device has the advantage of convenience in maintenance.
4. The compression springs are used as the five-axis elastic piece 321 and the six-axis elastic piece 421, when the tail end of the robot is impacted greatly, the springs are compressed, the gears are directly subjected to displacement buffering at a small angle, hard impact of the gears and other workpieces is reduced, and the service life is prolonged.
5. Calculating axial force F generated on tooth surface of bevel gear during normal belt running by data of bevel gear 1 According to the axial force F 1 Selecting proper elasticity coefficient k and original length L 0 The compression spring is arranged to generate a first elastic force F Bullet 1 Greater than or equal to the axial force F of the shaft teeth 1 So that the toothed shaft is always subjected to a force F greater than the axial force F during operation 1 First elastic force F of compression spring of (2) Bullet 1 The gap for maintaining transmission is pushed, so that the gear shaft is maintained to run under the condition that the gap is avoided to be formed between the gear shaft by using the gasket, and the advantage of improving running stability is achieved.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (10)
1. The utility model provides a heavy load industrial robot, includes five six structures, its characterized in that:
the five-six-shaft structure comprises a five-shaft body (100), a six-shaft body (200), a power output end and a power input end, wherein the power output end is arranged in the six-shaft body (200), the power input end is arranged in the five-shaft body (100), the power output end is connected with the power input end, and the power output end drives the power input end;
the power output end is provided with an output conical gear, the power input end is provided with an input conical gear, the power output end and the power input end are in meshed transmission through the output conical gear and the input conical gear, the power input end is provided with a compression spring, and the compression spring is used for adjusting a transmission gap between the output conical gear and the input conical gear;
the power input end comprises a five-axis input mechanism (300) and a six-axis input mechanism (400), and the power output end comprises a five-axis output mechanism (500) and a six-axis first output mechanism (600); the five-axis input mechanism (300) comprises a five-axis input shaft (310) and a five-axis compression spring (321), the five-axis output mechanism (500) comprises a five-axis output shaft (510), and the five-axis compression spring (321) is sleeved on the five-axis input shaft (310) and is used for adjusting a transmission gap between the five-axis input shaft (310) and the five-axis output shaft (510);
the six-axis input mechanism (400) comprises a six-axis input shaft (410) and a six-axis compression spring (421), the six-axis first output mechanism (600) comprises a six-axis output shaft (640), and the six-axis compression spring (421) is sleeved on the six-axis input shaft (410) and is used for adjusting a transmission gap between the six-axis input shaft (410) and the six-axis output shaft (640).
2. The calculation method for the gap adjustment of the heavy-load industrial robot is characterized by comprising the following steps of:
s1: providing a heavy duty industrial robot as claimed in claim 1;
s2: obtaining the engagement angle delta of the input bevel gear 1 And pressure angle alpha 1 ；
S3: calculating the normal force F generated by the input conical gear at the middle point of the tooth face width on the joint conical surface t1 ；
S4: according to the engagement angle delta 1 Angle of pressure alpha 1 Normal force F t1 Calculating the axial force F generated on the tooth surface of the input bevel gear 1 ；
S5: calculating a first compression length L of the compression spring 1 ；
S6: according to axial force F 1 And a first compressed length L 1 Selecting proper elasticity coefficient k and original length L 0 The compression spring is arranged to generate a first elastic force F Bullet 1 Greater than or equal to the axial force F of the shaft teeth 1 。
3. The method for calculating gap adjustment of a heavy-duty industrial robot according to claim 2, wherein step S3 further comprises the steps of:
s31: obtaining the number z of teeth of the input bevel gear 1 Sum modulus m 1 And average load torque T of normal load of the tooth shaft 1 ；
S32: according to the number z of teeth 1 Modulus m 1 And torque T 1 Calculating the normal force F generated by the input conical gear at the middle point of the tooth face width on the joint conical surface t1 。
4. The method for calculating gap adjustment of a heavy-duty industrial robot according to claim 2, wherein step S5 further comprises the steps of:
s51: measuring an error value of the output conical gear at the axial position;
s52: according to the error value and the engagement angle delta 1 Calculating a first compression length L of the compression spring 1 。
5. A calculation method of gap adjustment of a heavy load industrial robot according to claim 3, characterized in that the normal force F is calculated in step S32 using the following formula t1 ：
Wherein θ k Take a value of 1/3.
6. The method for calculating gap adjustment of a heavy-duty industrial robot according to claim 5, wherein the axial force F is calculated in step S4 using the following formula 1 ：
7. The method for calculating gap adjustment of a heavy-duty industrial robot according to any one of claims 2 to 6, wherein the first elastic force F is calculated in step S6 using the following formula Bullet 1 ：
F Bullet 1 ＝k(L 0 -L 1 )。
8. The method for calculating gap adjustment of a heavy-duty industrial robot according to claim 2, further comprising the steps of, when the robot is impacted:
s71, obtaining the second compression length L of the compression spring during impact 2 ；
S72, calculating the second elastic force F generated by the selected compression spring during impact Bullet 2 Ensure the second elastic force F at the time of impact Bullet 2 Greater than or equal to the axial force F of the shaft teeth 1 。
9. The method for calculating the gap adjustment of the heavy-duty industrial robot according to claim 8, wherein in order to avoid the occurrence of tooth jump of the gear when the power input end is impacted, further comprising the steps of:
first compressed length L 1 And a second compressed length L 2 The difference between them is less than 1mm.
10. The method for calculating gap adjustment of a heavy-duty industrial robot according to claim 8, wherein the second elastic force F is calculated in step S72 using the following formula Bullet 2 ：
F Bullet 2 ＝k(L 0 -L 2 )。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310610020.XA CN116533266A (en) | 2023-05-26 | 2023-05-26 | Heavy-load industrial robot and calculation method for gap adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310610020.XA CN116533266A (en) | 2023-05-26 | 2023-05-26 | Heavy-load industrial robot and calculation method for gap adjustment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116533266A true CN116533266A (en) | 2023-08-04 |
Family
ID=87456020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310610020.XA Pending CN116533266A (en) | 2023-05-26 | 2023-05-26 | Heavy-load industrial robot and calculation method for gap adjustment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116533266A (en) |
-
2023
- 2023-05-26 CN CN202310610020.XA patent/CN116533266A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104565333B (en) | The automatic method for eliminating limit corner gear tooth side gap | |
| CN101280840A (en) | Clearance eliminating mechanism when mechanical transmission | |
| CN101419106A (en) | Differential screwed loader main cone pretightening force measuring set and method | |
| EP3826151A1 (en) | Planetary reduction electrical machine capable of achieving full closed-loop control and articulated robot | |
| KR101773154B1 (en) | Harmonic drive that improves transmission accuracy | |
| CN111859715A (en) | Secondary planet roller screw optimization design method based on structural parameters | |
| CN105108554A (en) | Gear backlash eliminating structure for gear transmission mechanism | |
| CN113343383A (en) | Dynamic transmission error prediction method for robot joint harmonic reducer | |
| CN116533266A (en) | Heavy-load industrial robot and calculation method for gap adjustment | |
| CN105910817A (en) | Variable tooth thickness gear test bench | |
| CN201190780Y (en) | Gap-eliminating mechanism gear rack drive | |
| US5392666A (en) | Auto correction device for wearing end play in worm gear set | |
| HUT54782A (en) | Gear drive | |
| CN116839525A (en) | Two-stage star-type speed reducer gear simultaneous meshing line error correction method | |
| CN111881529A (en) | RV reducer main shaft bearing force analysis and calculation method for robot | |
| CN116533288A (en) | Five-six-axis structure of heavy-load industrial robot | |
| CN208153686U (en) | A kind of matching device of RV retarder bias axle assembly | |
| CN216742653U (en) | Transmission gapless transmission gearbox | |
| CN116652922A (en) | Industrial robot and calculation method for gap adjustment | |
| CN109492307B (en) | Numerical calculation method for tooth surface load contact performance parameters of spiral bevel gear | |
| CN109752182B (en) | Involute cylindrical gear comprehensive test device for dynamic and quasi-static tests | |
| CN210423641U (en) | Anti-backlash gear | |
| CN109719493A (en) | A kind of parts on shaft gap removing method | |
| TWI426011B (en) | Robot arm assembly | |
| CN112045382A (en) | Assembling and adjusting tool for main speed reducer of drive axle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |