CN205735006U - The hollow wrist structure of industrial robot - Google Patents
The hollow wrist structure of industrial robot Download PDFInfo
- Publication number
- CN205735006U CN205735006U CN201620681641.2U CN201620681641U CN205735006U CN 205735006 U CN205735006 U CN 205735006U CN 201620681641 U CN201620681641 U CN 201620681641U CN 205735006 U CN205735006 U CN 205735006U
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- Prior art keywords
- hollow
- wrist
- belt wheel
- reductor
- shell
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Abstract
This utility model discloses the hollow wrist structure of a kind of industrial robot, the wrist shell being rotationally connected including forearm and forearm free end; the internal one end contrary with wrist shell of forearm is provided with servomotor I; the output shaft of servomotor I is connected by Timing Belt transmission system has the output shaft of dual-gripper RV reductor I, dual-gripper RV reductor I to connect wrist shell；The output shaft being provided with servomotor II, servomotor II inside wrist shell connects the output shaft installation end flange of RV reductor II, RV reductor II.Industrial machine human wrist structure described in the utility model eliminates Bevel Gear Transmission, reduces machining and assembly difficulty；Servomotor is direct-connected with RV reductor, reduces transmission link, it is ensured that rotation precision.
Description
Technical field
This utility model relates to the wrist structure of a kind of industrial robot, the hollow wrist of a kind of industrial robot
Structure, it is adaptable to industrial robot spot welding.
Background technology
In general industrial machine human wrist structure, hollow structure is less, and cable passes outside robot wrist,
Make cable wiring chaotic, affect the rotation space in joint.
Utility model content
For the defect of prior art, this utility model discloses the hollow wrist structure of a kind of industrial robot, uses cone
Gear drive, hollow structure, conveniently wear cable, rational in infrastructure reliably.
In order to solve described technical problem, the technical solution adopted in the utility model is: the hollow wrist of industrial robot
Structure, the wrist shell being rotationally connected including forearm and forearm free end, it is provided with in forearm to motor I and the motor being misplaced installation
The output shaft of II, motor I connects has the output shaft connection of the motion structure I, motor II that drive wrist shell to move up and down to have drive wrist
Motion II, described motion I that shell rotates include belt wheel I, belt wheel II, Timing Belt I and dual-gripper RV reductor, belt wheel
I is arranged on the output shaft of motor I, and belt wheel II is arranged on the power shaft of dual-gripper RV reductor, between belt wheel I and belt wheel II
By Timing Belt I transmission, the output shaft of dual-gripper RV reductor is fixed on wrist shell；Described motion II include belt wheel IV,
Belt wheel V, Timing Belt II and little axle, belt wheel IV is arranged on the output shaft of motor II, and belt wheel V is arranged on little axle, belt wheel I
By Timing Belt II transmission between belt wheel IV and belt wheel V, little axle is fixed on forearm by rolling bearing units, and the little axle other end is pacified
Equipped with bevel gear wheel, bevel gear wheel is meshed with the bevel pinion being arranged in wrist shell, and bevel pinion is positioned at one end of power transmission shaft,
The other end of power transmission shaft is fixed with spur gear, and spur gear is meshed with hollow gear wheel, and hollow gear wheel is hollow RV reductor
Input gear, hollow RV reductor is arranged on wrist shell, and the output shaft of hollow RV reductor installs an end flange, this end
Flange is hollow, and the center of hollow RV reductor is provided with the internal void split-phase of a hollow pipe, hollow pipe and end flange
Connection.
The hollow wrist structure of industrial robot described in the utility model, between described belt wheel II and dual-gripper RV reductor
Connect and have deceleration cover, between deceleration cover and belt wheel II, have oil sealing.
The hollow wrist structure of industrial robot described in the utility model, is provided with big bearing block in forearm, little axle passes through two
Individual bearing, little set are arranged in big bearing block.
The hollow wrist structure of industrial robot described in the utility model, is provided with oil seal seat, in oil seal seat in big bearing block
It is provided with oil sealing.
The hollow wrist structure of industrial robot described in the utility model, is provided with small bearing bracket in wrist shell, bevel pinion leads to
Cross small bearing bracket to be fixed in wrist shell.
The hollow wrist structure of industrial robot described in the utility model, one end of central canal supports an oil sealing.
The beneficial effects of the utility model: this utility model is hollow structure wrist, can facilitate robot end's cable
Pass through, use Bevel Gear Transmission, rational in infrastructure be reliably provided with oil sealing, prevent lubricating oil from oozing out.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is internal structure schematic diagram of the present utility model；
Fig. 3 is sectional view of the present utility model；
In figure: 1, Timing Belt I, 2, belt wheel I, 3, motor I, 4, motor II, 5, belt wheel IV, 6, Timing Belt II, 7, hollow big
Gear, 8, spur gear, 9, power transmission shaft, 10, side cover I, 11, big bearing block, 12, little axle, 13, belt wheel V, 14, oil seal seat, 15, little
Set, 16, bevel gear wheel, 17, forearm, 18, small bearing bracket, 19, bevel pinion, 20, cover plate, 21, deceleration cover, 22, dual-gripper
RV reductor, 23, side cover II, 24, belt wheel II, 25, wrist shell, 26, connector, 27, hollow RV reductor, 28, end send out orchid,
29, central canal.
Detailed description of the invention
With specific embodiment this utility model it is further described below in conjunction with the accompanying drawings and limits.
As shown in Figure 1, 2, the hollow wrist structure of a kind of industrial robot, turn with forearm 17 free end including forearm 17
The wrist shell 25 being dynamically connected, is provided with in forearm to being misplaced the motor I3 and motor II4 of installation, and the output shaft of motor I3 connects band
Dynamic wrist shell moves up and down thus realizes the motion structure I of robot wrist's oscillating function, and the output shaft of motor II4 connects drive
Wrist shell rotates thus realizes the motion II of robot wrist's spinfunction, and motion structure I lays respectively at motion II
The both sides of forearm.
As shown in Figure 2,3, in the present embodiment, described motion I includes belt wheel I2, belt wheel II24, Timing Belt I1 and double
Supporting RV reductor 22, belt wheel I2 is arranged on the output shaft of motor I3, and belt wheel II24 is arranged on dual-gripper RV reductor 22
On power shaft, by Timing Belt I1 transmission between belt wheel I2 and belt wheel II24, the output shaft of dual-gripper RV reductor 22 is fixed on
On wrist shell 25.When motor I3 rotates, by the transmission of Timing Belt I1 Yu dual-gripper RV reductor 22, wrist shell about 25 can be driven
Motion, thus realize the oscillating function of robot wrist.Wherein, it is connected to have between belt wheel II24 with dual-gripper RV reductor 22 and subtracts
Speed cover 21, is provided with oil sealing between deceleration cover 21 and belt wheel II24, the effect of deceleration cover 21 is that storage dual-gripper RV slows down
Lubricating oil in machine 22, and prevent lubricating oil from overflowing.
In the present embodiment, described motion II includes belt wheel IV 5, belt wheel V 13, Timing Belt II6 and little axle 12, band
Wheel IV5 is arranged on the output shaft of motor II4, and belt wheel V13 is arranged on little axle 12, passes through between belt wheel IV 5 and belt wheel V 13
Timing Belt II6 transmission, little axle 12 is fixed on forearm 17 by rolling bearing units, and little axle 12 other end is provided with bevel gear wheel
16, bevel gear wheel 16 is meshed with the bevel pinion 19 being arranged in wrist shell 25, and bevel pinion 19 is positioned at one end of power transmission shaft 9,
The other end of power transmission shaft 9 connects has spur gear 8, spur gear 8 to be meshed with hollow gear wheel 7, and hollow gear wheel 7 subtracts for hollow RV
The input gear of speed machine 27, hollow RV reductor 27 is arranged on wrist shell 25 end, and the output shaft of hollow RV reductor 27 installs one
End flange 28, this end flange 28 is hollow, and the center of hollow RV reductor 27 is provided with a hollow pipe 29, hollow pipe 29 with
The interior hollow section of end flange 28 is connected.An oil sealing is installed in one end of central canal 29, in preventing hollow RV reductor 27
Lubricating oil overflow.
In the present embodiment, being provided with big bearing block 11 in forearm 17, big bearing block 11 is fixed on forearm 17, and little axle 12 passes through
Two bearings, little sets 15 are arranged in big bearing block 11 with oil seal seat 14, are provided with oil sealing, in preventing gear cavity in big bearing block 11
Lubricating oil overflow.
In the present embodiment, in wrist shell 25, be provided with small bearing bracket 18, small bearing bracket 18 be fixed by screws in wrist shell 25 and
On cover plate 20, bevel pinion 19 is arranged in small bearing bracket 18 by the pair of bearings of small bearing bracket 18.Power transmission shaft 9 one end is passed through
Small bearing bracket 18 and the pair of bearings in small bearing bracket 18, the other end is arranged in wrist shell 25 by bearing, back-up ring.
When motor II4 rotates, little axle 12 is driven to rotate by Timing Belt II6 transmission.Little axle 12 rotates, by big conelet
Gear drive, drives power transmission shaft 9 to rotate.Power transmission shaft 9 rotates, and through the transmission of spur gear 8 with hollow gear wheel 7, drives hollow
RV reductor 27 rotates, so that end flange 28 rotates.This transmission is complex, is first Timing Belt II6 transmission, next to that
Bevel Gear Transmission, is spur gear 8 transmission again, is finally hollow RV reductor 27 transmission.Wherein Timing Belt II6 can be by electricity
Installation between machine II4 and forearm 17 carrys out tensioning, and Bevel Gear Transmission gap can be by the pad between bevel pinion 19 and power transmission shaft 9
Sheet adjusts.The bad adjustment of spur gear 8 drive gap, but can be ensured by machining.When motor II4 rotates, can
To realize the spinfunction of robot wrist.
The configuration of this utility model wrist shell can facilitate passing through of robot wrist's latter end cable with this drive mechanism.
This utility model the embodiment above, is merely illustrative, and is not only, all in the range of this utility model
Or be equal to the change in the range of this this utility model and all surrounded by this utility model.
Claims (6)
1. the hollow wrist structure of industrial robot, it is characterised in that: include the wrist that forearm is rotationally connected with forearm free end
Shell, is provided with in forearm to being misplaced the motor I and motor II of installation, and the output shaft of motor I connects has drive wrist shell to move up and down
Motion structure I, motor II output shaft connect have drive wrist shell rotate motion II, described motion I include band
Wheel I, belt wheel II, Timing Belt I and dual-gripper RV reductor, belt wheel I is arranged on the output shaft of motor I, and belt wheel II is arranged on double
Support on the power shaft of RV reductor, by Timing Belt I transmission between belt wheel I and belt wheel II, the output of dual-gripper RV reductor
Axle is fixed on wrist shell；Described motion II includes belt wheel IV, belt wheel V, Timing Belt II and little axle, and belt wheel IV is arranged on
On the output shaft of motor II, belt wheel V is arranged on little axle, by Timing Belt II transmission between belt wheel I belt wheel IV and belt wheel V, little
Axle is fixed on forearm by rolling bearing units, and the little axle other end is provided with bevel gear wheel, bevel gear wheel be arranged in wrist shell
Bevel pinion be meshed, bevel pinion is positioned at one end of power transmission shaft, and the other end of power transmission shaft is fixed with spur gear, spur gear with
Hollow gear wheel is meshed, and hollow gear wheel is the input gear of hollow RV reductor, and hollow RV reductor is arranged on wrist shell,
The output shaft of hollow RV reductor installs an end flange, and this end flange is hollow, and the center of hollow RV reductor is provided with
One hollow pipe, hollow pipe is connected with the interior hollow section of end flange.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: described belt wheel II props up with double
Connect between support RV reductor and have deceleration cover, between deceleration cover and belt wheel II, have oil sealing.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: it is provided with big bearing in forearm
Seat, little axle is arranged in big bearing block by two bearings, little set.
The hollow wrist structure of industrial robot the most according to claim 3, it is characterised in that: it is provided with oil in big bearing block
Envelope seat, is provided with oil sealing in oil seal seat.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: it is provided with little bearing in wrist shell
Seat, bevel pinion is fixed in wrist shell by small bearing bracket.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: one end of central canal supports
There is oil sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681641.2U CN205735006U (en) | 2016-07-01 | 2016-07-01 | The hollow wrist structure of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681641.2U CN205735006U (en) | 2016-07-01 | 2016-07-01 | The hollow wrist structure of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205735006U true CN205735006U (en) | 2016-11-30 |
Family
ID=57379482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620681641.2U Active CN205735006U (en) | 2016-07-01 | 2016-07-01 | The hollow wrist structure of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205735006U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078794A (en) * | 2016-07-01 | 2016-11-09 | 济南时代试金试验机有限公司 | The hollow wrist structure of industrial robot |
| CN107379009A (en) * | 2017-08-23 | 2017-11-24 | 珞石（北京）科技有限公司 | A kind of novel robot wrist structure |
| CN109895132A (en) * | 2019-04-18 | 2019-06-18 | 成都卡诺普自动化控制技术有限公司 | A kind of final drive structure of industrial machine human wrist drive mechanism |
| CN114179071A (en) * | 2021-12-30 | 2022-03-15 | 伯朗特机器人股份有限公司 | Industrial robot end transmission device |
| 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 |
-
2016
- 2016-07-01 CN CN201620681641.2U patent/CN205735006U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078794A (en) * | 2016-07-01 | 2016-11-09 | 济南时代试金试验机有限公司 | The hollow wrist structure of industrial robot |
| CN107379009A (en) * | 2017-08-23 | 2017-11-24 | 珞石（北京）科技有限公司 | A kind of novel robot wrist structure |
| CN109895132A (en) * | 2019-04-18 | 2019-06-18 | 成都卡诺普自动化控制技术有限公司 | A kind of final drive structure of industrial machine human wrist drive mechanism |
| 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 |
| CN114179071A (en) * | 2021-12-30 | 2022-03-15 | 伯朗特机器人股份有限公司 | Industrial robot end transmission device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |