CN204076276U - Industrial robot wrist joint - Google Patents
Industrial robot wrist joint Download PDFInfo
- Publication number
- CN204076276U CN204076276U CN201420174574.6U CN201420174574U CN204076276U CN 204076276 U CN204076276 U CN 204076276U CN 201420174574 U CN201420174574 U CN 201420174574U CN 204076276 U CN204076276 U CN 204076276U
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- joint
- gear
- driven
- arc bevel
- bevel gear
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 22
- 230000007704 transition Effects 0.000 claims abstract description 38
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 210000000707 wrist Anatomy 0.000 abstract description 3
- 238000010923 batch production Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Gear Transmission (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of industrial robot wrist joint, 5th joint power the tip of the axis is by A type Flat dey joint the 5th initiatively arc bevel gear, 5th active arc bevel gear is meshed with driven arc bevel gear, driven arc bevel gear is connected with driving gear by A type flat key, driving gear connects with driven gear through transition gear, driven gear is located on the 5th joint speed reducer, establishes the 5th joint swing arm at the end of the 5th joint speed reducer; 6th joint power the tip of the axis is by A type Flat dey joint the 6th initiatively arc bevel gear, 6th active arc bevel gear is meshed with No. two driven arc bevel gears, No. two driven arc bevel gears are connected with No. two driving gears by A type flat key, and No. two driving gears connect with No. two driven gears through No. two transition gears.The carpal structure of the utility model industrial robot is tightly raised, and assembling is simple, transmission efficiency is high, gear clearance is adjustable, thus makes industrial machine human wrist overall volume little, more flexibly, light.
Description
Technical field
The utility model relates to a kind of industrial robot wrist joint, particularly relates to a kind of industrial robot wrist end the 5th, the 6th joint, belongs to robotics.
Background technology
Wrist joint is arm and the interconnective important component part of manipulator of robot, its topmost function is adjustment and changes the position of manipulator in three dimensions and 3 d pose, therefore, the flexibility of wrist joint when spatial movement and directly have influence on the overall function at work of robot and performance in the scope of spatial movement.
At present, as shown in Figure 1, carpal 5th, the 6th joint of existing industrial robot comprises the 4th knuckle boom 101 of associated, the 5th joint servo motor 102, the 6th joint servo motor 103, Timing Belt 104, the 5th joint swing arm 105, drive bevel gear 106, driven wheel of differential 107, the 6th joint 108, the 5th joint speed reducer 109 and No. two Timing Belts 120 to the wrist joint structure of industrial robot.In the structure shown here, there is following weak point:
A, the 5th joint servo motor 102 and the 6th joint servo motor 103 are placed among the 4th knuckle boom 101, and robot arm center of gravity is moved forward, and add the load in second, third joint, nominal load is affected;
The control cables of B, the 5th joint servo motor 102 and the 6th joint servo motor 103 needs to walk around the 4th joint speed reducer, and cable needs to rotate with the 4th knuckle boom 101 simultaneously, and cable wants bending on the one hand, wants distortion on the other hand, easily fractures;
C, the 5th joint servo motor 102 and the 6th joint servo motor 103 are placed among the 4th knuckle boom 101, the profile limited size of the 5th joint servo motor 102 and the 6th joint servo motor 103, servo motor model number is selected limited, and cost control is also under some influence; For placing servomotor, the 4th knuckle boom appearance and size becomes large, and quality increases, and affect the flexibility of robot arm, too increase the load in second, third joint, end nominal load is affected;
D, No. two Timing Belts 120 are long, large on the impact of the output shaft of the 5th joint servo motor 102 after tensioner, shorten motor service life.
Utility model content
The purpose of this utility model is: provide a kind of industrial robot wrist joint, solves the improper and technical problem causing transmission efficiency low of existing wrist joint of robot the 5th, the 6th joint designs, thus can effectively solve above-mentioned problems of the prior art.
The purpose of this utility model is realized by following technical proposals: a kind of industrial robot wrist joint, comprise the 6th joint speed reducer, end machinery flange, 6th joint power axle, 5th joint power axle, 5th joint speed reducer and the 5th joint swing arm, 5th joint power the tip of the axis is by A type Flat dey joint the 5th initiatively arc bevel gear, 5th active arc bevel gear is meshed with driven arc bevel gear, driven arc bevel gear is connected with driving gear by A type flat key, driving gear connects with driven gear through transition gear, driven gear is located on the 5th joint speed reducer, the 5th joint swing arm is established at the end of the 5th joint speed reducer, 6th joint power the tip of the axis is by A type Flat dey joint the 6th initiatively arc bevel gear, 6th active arc bevel gear is meshed with No. two driven arc bevel gears, No. two driven arc bevel gears are connected with No. two driving gears by A type flat key, No. two driving gears connect with No. two driven gears through No. two transition gears, No. two driven gears are connected with No. three active arc bevel gears by A type flat key, No. three active arc bevel gears are meshed with a driven arc bevel gear, a driven arc bevel gear is placed in the 5th joint swing arm, and this No. one driven arc bevel gear is located on the power shaft of the 6th joint speed reducer, end machinery flange is established at the end of the 6th joint speed reducer.
As preferred embodiment, transition gear, No. two transition gears, driven gear, the number of teeth of No. two driven gears, modulus are identical with appearance and size.
As preferred embodiment, the 6th initiatively arc bevel gear, No. three initiatively arc bevel gear, the 5th initiatively the number of teeth of arc bevel gear, modulus are identical.
As preferred embodiment, No. two driven arc bevel gears, driven arc bevel gear, the number of teeth of driven arc bevel gear, modulus are also identical.
As preferred embodiment, the number of teeth, the modulus of No. two driving gears and driving gear are identical.
As preferred embodiment, driven arc bevel gear and No. two driven arc bevel gears are supported be arranged in driving gear shaft bearing by two deep groove ball bearings, internal circlip, bearing inserts respectively.
As preferred embodiment, transition gear and No. two transition gears are bearing in transition gear bearing block by two No. four deep groove ball bearings and transition gear axle respectively.
As preferred embodiment, driven gear is arranged on the power shaft of the 5th joint speed reducer by bearing block, deep groove ball bearing, soket head cap screw, gear pressure plate and cross recessed countersunk head sscrew.
As preferred embodiment, No. two driven gears are arranged in the 4th knuckle boom by bearing block, two deep groove ball bearings, soket head cap screw, bearing insert, bearing caps; Support with deep groove ball bearing between bearing block and the 5th joint swing arm.
Compared with prior art, the beneficial effects of the utility model: the carpal structure of the utility model industrial robot is tightly raised, assembling is simple, transmission efficiency is high, gear clearance is adjustable, thus makes industrial machine human wrist overall volume little, more flexibly, light; In the five or six joint, modulus is optimized for identical, decreases part specifications, is convenient to batch production, reduces costs.
Accompanying drawing explanation
Fig. 1 is the structural representation that existing industrial robot wrist joint adopts Timing Belt.
Fig. 2 is the carpal structural representation of the utility model industrial robot.
In Fig. 2: the 6th joint speed reducer-1, end machinery flange-2, a driven arc bevel gear-4, No. two deep groove ball bearings-6, No. three soket head cap screws-7, No. two bearing blocks-8, No. two driven gears-9, No. three bearing caps-10, No. three active arc bevel gears-11, A type flat key-12, No. three deep groove ball bearings-13, No. three bearing inserts-14, No. two transition gears-15, No. three deep groove ball bearings-16, No. two transition gear axles-17, No. two transition gear bearing blocks-18, No. two driving gear shaft bearings-19, No. two driving gears-20, No. two deep groove ball bearings-21, No. two bearing inserts-22, No. two driven arc bevel gears-23, 6th active arc bevel gear-25, 6th joint power axle-29, 5th joint power axle-30, 5th active arc bevel gear-33, driven arc bevel gear-34, 4th knuckle boom-35, internal circlip-36, deep groove ball bearing-37, bearing insert-38, driving gear shaft bearing-39, driving gear-40, transition gear bearing block-43, No. four deep groove ball bearings-44, transition gear axle-45, transition gear-46, gear pressure plate-47, cross recessed countersunk head sscrew-48, deep groove ball bearing-49, a bearing block-50, driven gear-51, 5th joint speed reducer-52, soket head cap screw-53, 5th joint swing arm-54.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is further described.
All features disclosed in this description, or the step in disclosed all methods or process, except the speciality mutually repelled and/or step, all can combine by any way, unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object, namely, unless specifically stated otherwise, an embodiment in a series of equivalence of each feature or similar characteristics.
As shown in Figure 2, the utility model industrial robot wrist joint comprises the 6th joint speed reducer 1, end machinery flange 2, 6th joint power axle 29, 5th joint power axle 30, 5th joint speed reducer 52 and the 5th joint swing arm 54, the end of the 5th joint power axle 30 connects the 5th active arc bevel gear 33 by A type flat key 12, 5th active arc bevel gear 33 is meshed with driven arc bevel gear 34, driven arc bevel gear 34 is connected with driving gear 40 by A type flat key 12, driving gear 40 connects with driven gear 51 through transition gear 46, driven gear 51 is located on the 5th joint speed reducer 52, the 5th joint swing arm 54 is established at the end of the 5th joint speed reducer 52, the end of the 6th joint power axle 29 connects the 6th active arc bevel gear 25 by A type flat key 12, 6th active arc bevel gear 25 is meshed with No. two driven arc bevel gears 23, No. two driven arc bevel gears 23 are connected with No. two driving gears 20 by A type flat key 12, No. two driving gears 20 connect with No. two driven gears 9 through No. two transition gears 15, No. two driven gears 9 are connected with No. three active arc bevel gears 11 by A type flat key 12, No. three active arc bevel gears 11 are meshed with a driven arc bevel gear 4, a driven arc bevel gear 4 is placed in the 5th joint swing arm 54, and this No. one driven arc bevel gear 4 is located on the power shaft of the 6th joint speed reducer 1, end machinery flange 2 is established at the end of the 6th joint speed reducer 1.
Transition gear 46, No. two transition gears 15, the number of teeth of driven gear 51, No. two driven gears 9, modulus are identical with appearance and size, to reduce part specifications, are convenient to batch production, reduce costs.
The number of teeth, the modulus of the 6th active arc bevel gear 25, No. three active arc bevel gear the 11, the 5th active arc bevel gear 33 are identical, to reduce part specifications, are convenient to batch production, reduce costs.
No. two driven arc bevel gears 23, driven arc bevel gear 4, the number of teeth of driven arc bevel gear 34, modulus are also identical, to reduce part specifications, are convenient to batch production, reduce costs.
The number of teeth, the modulus of No. two driving gears 20 and driving gear 40 are identical, to reduce part specifications, are convenient to batch production, reduce costs.
Drive path of the present utility model:
A, the 5th joint transmission route: power is inputted by the 5th joint power axle 30, through A type flat key 12, connect the 5th active arc bevel gear 33, be meshed with driven arc bevel gear 34, driving gear 40 is passed to by A type flat key 12, be delivered to driven gear 51 through transition gear 46, after the 5th joint speed reducer 52 slows down, drive the 5th joint swing arm 54 to swing.Wherein, driven arc bevel gear 34 is supported be arranged in driving gear shaft bearing 39 by two deep groove ball bearings 37, internal circlip 36, bearing insert 38; Transition gear 46 is bearing in transition gear bearing block 43 by two No. four deep groove ball bearings 44 and transition gear axle 45; Driven gear 51 is arranged on the power shaft of the 5th joint speed reducer 52 by a bearing block 50, deep groove ball bearing 49, soket head cap screw 53, gear pressure plate 47 and cross recessed countersunk head sscrew 48.
B, the 6th joint transmission route: power is inputted by the 6th joint power axle 29, through A type flat key 12, connect the 6th active arc bevel gear 25, be meshed with No. two driven arc bevel gears 23, pass to No. two driving gears 20 by A type flat key, be delivered to No. two driven gears 9 through No. two transition gears 15, connected with No. three driven arc bevel gears 11 by A type flat key 12, be meshed with a driven arc bevel gear 4, after the 6th joint speed reducer 1 slows down, drive end machinery flange 2.Wherein, No. two driven arc bevel gears 23 are supported be arranged in No. two driving gear shaft bearings 19 by two No. two deep groove ball bearings 21, internal circlip, No. two bearing inserts 22; No. two transition gears 15 are bearing in No. two transition gear bearing blocks 18 by two No. three deep groove ball bearings 16 and No. two transition gear axles 17; No. two driven gears 9 are arranged in the 4th knuckle boom 35 by No. two bearing blocks 8, two No. three deep groove ball bearings 13, No. three soket head cap screws 7, No. three bearing inserts 14, No. three bearing caps 10; Support with No. two deep groove ball bearings 6 between No. two bearing blocks 8 and the 5th joint swing arm 54; A driven arc bevel gear 4 is arranged on the power shaft of the 6th joint speed reducer 1.
The carpal operation principle of this industrial robot is:
Whole industrial robot wrist joint power to realize principle as follows:
5th joint swing arm 54 swings: drive driven arc bevel gear 34, driving gear 40, transition gear 46, driven gear 51 to rotate by the 5th active arc bevel gear 33, slow down through the 5th joint speed reducer 52, the output of the 5th joint speed reducer 52 drives the 5th joint swing arm 54 to swing again.
6th joint end machinery flange 2 rotates: drive No. 9, three, No. two driven arc bevel gears 23, No. two driving gears 20, No. two transition gears 15, No. two driven gears active arc bevel gear 11, driven arc bevel gear 4 to rotate by the 6th active arc bevel gear 25, slow down through the 6th joint speed reducer 1, the output of the 6th joint speed reducer 1 drives end machinery flange 2 to rotate again.
Due to the 6th joint speed reducer 1, end machinery flange 2, a driven arc bevel gear 4 is arranged in the 5th joint swing arm 54, 5th joint swing arm 54 can with the 6th joint speed reducer 1 when swing, end machinery flange 2, a driven arc bevel gear 4 rotates around No. three active arc bevel gears 11, due to the meshing relation of a driven arc bevel gear 4 and No. three initiatively arc bevel gears 11, a driven arc bevel gear 4 just can be rotated, a driven arc bevel gear 4 is rotated and just drives the power shaft of the 6th joint speed reducer 1 to rotate, end machinery flange 2 also will rotate, realize " coupling ".For making the 5th joint swing arm 54 when swing, end machinery flange 2 keeps motionless, robot controller can add an instruction, make the kinetic servo motor that is connected with the 6th joint power axle 29 in certain direction, certain speed rotates, to eliminate the impact on end machinery flange 2 when the 5th joint swing arm 54 swings, thus realize each self energy self-movement in the 5th joint and the 6th joint.
This structure mainly solves the power transmission arrangment problem in 6 series connection industrial machine robot end the 5th, the 6th joints, joint, this structure is applied in 6 joint series connection industrial machine robot ends, can be applied in carrying, welding, spraying, machine tooling lifting workpiece etc. widely local for oblige by doing's duplication of labour.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (9)
1. an industrial robot wrist joint, comprise the 6th joint speed reducer (1), end machinery flange (2), 6th joint power axle (29), 5th joint power axle (30), 5th joint speed reducer (52) and the 5th joint swing arm (54), it is characterized in that: the end of the 5th joint power axle (30) connects the 5th active arc bevel gear (33) by A type flat key (12), 5th active arc bevel gear (33) is meshed with driven arc bevel gear (34), driven arc bevel gear (34) is connected with driving gear (40) by A type flat key (12), driving gear (40) connects with driven gear (51) through transition gear (46), driven gear (51) is located on the 5th joint speed reducer (52), the 5th joint swing arm (54) is established at the end of the 5th joint speed reducer (52), the end of the 6th joint power axle (29) connects the 6th active arc bevel gear (25) by A type flat key (12), 6th active arc bevel gear (25) is meshed with No. two driven arc bevel gears (23), No. two driven arc bevel gears (23) are connected with No. two driving gears (20) by A type flat key (12), No. two driving gears (20) connect with No. two driven gears (9) through No. two transition gears (15), No. two driven gears (9) are connected with No. three actives arc bevel gear (11) by A type flat key (12), No. three actives arc bevel gear (11) are meshed with a driven arc bevel gear (4), a driven arc bevel gear (4) is placed in the 5th joint swing arm (54), and this No. one driven arc bevel gear (4) is located on the power shaft of the 6th joint speed reducer (1), end machinery flange (2) is established at the end of the 6th joint speed reducer (1).
2. industrial robot wrist joint as claimed in claim 1, is characterized in that: transition gear (46), No. two transition gears (15), driven gear (51), the number of teeth of No. two driven gears (9), modulus are identical with appearance and size.
3. industrial robot wrist joint as claimed in claim 1, is characterized in that: the 6th initiatively arc bevel gear (25), No. three initiatively arc bevel gear (11), the 5th initiatively the number of teeth of arc bevel gear (33), modulus are identical.
4. industrial robot wrist joint as claimed in claim 1, is characterized in that: No. two driven arc bevel gears (23), driven arc bevel gear (4), the number of teeth of driven arc bevel gear (34), modulus are also identical.
5. industrial robot wrist joint as claimed in claim 1, is characterized in that: the number of teeth, the modulus of No. two driving gears (20) and driving gear (40) are identical.
6. industrial robot wrist joint as claimed in claim 1, is characterized in that: driven arc bevel gear (34) and No. two driven arc bevel gears (23) are supported be arranged in driving gear shaft bearing (39) by two deep groove ball bearings, internal circlip, bearing insert respectively.
7. industrial robot wrist joint as claimed in claim 1, is characterized in that: transition gear (46) and No. two transition gears (15) are bearing in transition gear bearing block by two No. four deep groove ball bearings and transition gear axle respectively.
8. industrial robot wrist joint as claimed in claim 1, is characterized in that: driven gear (51) is arranged on the power shaft of the 5th joint speed reducer (52) by bearing block, deep groove ball bearing, soket head cap screw, gear pressure plate and cross recessed countersunk head sscrew.
9. industrial robot wrist joint as claimed in claim 1, is characterized in that: No. two driven gears (9) are arranged in the 4th knuckle boom by bearing block, two deep groove ball bearings, soket head cap screw, bearing insert, bearing caps; Support with deep groove ball bearing between bearing block and the 5th joint swing arm (54).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420174574.6U CN204076276U (en) | 2014-04-11 | 2014-04-11 | Industrial robot wrist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420174574.6U CN204076276U (en) | 2014-04-11 | 2014-04-11 | Industrial robot wrist joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204076276U true CN204076276U (en) | 2015-01-07 |
Family
ID=52169037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420174574.6U Expired - Lifetime CN204076276U (en) | 2014-04-11 | 2014-04-11 | Industrial robot wrist joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204076276U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802163A (en) * | 2015-04-01 | 2015-07-29 | 湖北骐通机电工程有限公司 | Robot wrist body |
| CN106217412A (en) * | 2016-08-31 | 2016-12-14 | 安徽零点精密机械有限责任公司 | Industrial machine human wrist gap debugging tool |
| CN107234630A (en) * | 2017-05-18 | 2017-10-10 | 杭州新松机器人自动化有限公司 | The adjustment structure and its application method of a kind of industrial robot wrist gear backlash |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
| CN115042222A (en) * | 2022-06-22 | 2022-09-13 | 成都三译智能技术有限公司 | Wrist joint of robot |
-
2014
- 2014-04-11 CN CN201420174574.6U patent/CN204076276U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802163A (en) * | 2015-04-01 | 2015-07-29 | 湖北骐通机电工程有限公司 | Robot wrist body |
| CN106217412A (en) * | 2016-08-31 | 2016-12-14 | 安徽零点精密机械有限责任公司 | Industrial machine human wrist gap debugging tool |
| CN106217412B (en) * | 2016-08-31 | 2018-08-31 | 安徽零点精密机械有限责任公司 | Industrial machine human wrist gap debugging tool |
| CN107234630A (en) * | 2017-05-18 | 2017-10-10 | 杭州新松机器人自动化有限公司 | The adjustment structure and its application method of a kind of industrial robot wrist gear backlash |
| CN107234630B (en) * | 2017-05-18 | 2019-07-23 | 杭州新松机器人自动化有限公司 | A kind of the adjustment structure and its application method of industrial robot wrist gear backlash |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
| CN115042222A (en) * | 2022-06-22 | 2022-09-13 | 成都三译智能技术有限公司 | Wrist joint of robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20150107 |
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| CX01 | Expiry of patent term |