CN210025355U - End transmission structure of industrial robot wrist transmission structure - Google Patents
End transmission structure of industrial robot wrist transmission structure Download PDFInfo
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- CN210025355U CN210025355U CN201920530907.7U CN201920530907U CN210025355U CN 210025355 U CN210025355 U CN 210025355U CN 201920530907 U CN201920530907 U CN 201920530907U CN 210025355 U CN210025355 U CN 210025355U
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Abstract
The utility model discloses an end transmission structure of an industrial robot wrist transmission structure, which comprises a small arm shell and a wrist shell, wherein a driving bevel gear rotating structure is arranged in the small arm shell, one end of the wrist shell is provided with a driven bevel gear rotating structure, the other end of the wrist shell is provided with a gear ring component, and the driving bevel gear rotating structure comprises a driving bevel gear, a first bearing, a second bearing, a shaft sleeve and a synchronizing wheel; the first bearing is mounted in one bearing position of the shaft sleeve in a pressed mode, the second bearing is mounted in the other bearing position of the shaft sleeve in a pressed mode, the driving bevel gear is mounted in the second bearing, and the first bearing is pressed through the second set screw; the synchronizing wheel is arranged in the second bearing and is locked with the driving bevel gear through a locking screw to form a driving bevel gear rotating structure and is integrally arranged in the small arm shell; the wrist shell is connected with the bottom of the shaft sleeve through a screw. The utility model discloses an end transmission structure can realize the regulation to gear drive's backlash, and has the advantage that the appearance is compact.
Description
Technical Field
The utility model relates to a six robot technical field, in particular to industrial robot wrist transmission structure's end transmission structure.
Background
The wrist component of the robot is used for connecting the arm of the robot and the end actuating mechanism, is positioned at the extreme end of the robot joint, has similar action with the wrist of a human body, and is used for adjusting or changing the posture of the end so as to enable the end actuating mechanism of the robot to meet the specific action requirement, so that the wrist has independent degree of freedom.
The tail end is directly connected with the executing mechanism, and auxiliary equipment is also arranged outside the executing mechanism, so that the external dimension of the tail end is limited, the size of the tail end is larger, the weight of the tail end is sensitive to the load performance of the whole machine, the weight of the body exceeds the standard, the working load is reduced inevitably, the efficiency is low, and the energy consumption loss is excessive.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming not enough among the above-mentioned background art, provide an industrial robot wrist transmission structure's end transmission structure, can realize the regulation to the gear drive backlash, and have the advantage that the appearance is compact.
In order to achieve the technical effect, the utility model discloses take following technical scheme:
a tail end transmission structure of an industrial robot wrist transmission structure comprises a small arm shell and a wrist shell, wherein a driving bevel gear rotating structure is installed in the small arm shell, a driven bevel gear rotating structure is installed at one end of the wrist shell, a gear ring component is installed at the other end of the wrist shell, and the driving bevel gear rotating structure specifically comprises a driving bevel gear, a first bearing, a second bearing, a shaft sleeve and a synchronizing wheel; the first bearing is mounted in one bearing position of the shaft sleeve in a pressed mode, the second bearing is mounted in the other bearing position of the shaft sleeve in a pressed mode, the driving bevel gear is mounted in the second bearing, and the first bearing is pressed through the third set screw; the synchronizing wheel is arranged in the second bearing and positioned above the driving bevel gear, and the synchronizing wheel is locked with the driving bevel gear through a locking screw, so that a driving bevel gear rotating structure is formed and is integrally installed in the small arm shell; the wrist shell is connected with the bottom of the shaft sleeve through a screw.
Further, the driven bevel gear rotating structure comprises a driven bevel gear, a gear shaft, a roller bearing, a deep groove ball bearing and a spline housing, wherein an inner ring of the roller bearing is arranged in a bearing position at one end of the gear shaft and is limited by a shaft stop, the other end of the gear shaft is arranged in the driven bevel gear and is locked by a first set screw and a first gasket, an external spline is arranged on the surface of a shaft of the driven bevel gear, an internal spline matched with the external spline is arranged on the inner wall of the spline housing, the spline housing is sleeved on the shaft of the driven bevel gear, an elastic component is further sleeved on the shaft of the driven bevel gear, one end of the elastic component is connected with a shaft shoulder of the driven bevel gear, the other end of the elastic component is abutted to the spline housing, and the deep groove ball bearing.
Furthermore, the driven bevel gear rotating structure is installed in the wrist shell and is packaged and pressed through a small end cover, the driven bevel gear is meshed with the driving bevel gear, and the small end cover is abutted to the spline housing through a third gasket.
Further, the elastic component is a pre-tightening spring.
Further, the gear ring component comprises a first inner gear ring, a second inner gear ring, a cross bearing and an output flange, the first inner gear ring and the second inner gear ring are fixed through a spacer bush and a second set screw to form a whole gear ring, the cross bearing is installed inside the second inner gear ring, the gear ring component is integrally placed in the wrist shell, the gear ring component is installed at a bearing position of the wrist shell through an inner ring of the cross bearing, the end face of the inner ring of the cross bearing is pressed through a pressing ring and locked through a screw at the same time, a gear shaft is meshed with the first inner gear ring and the second inner gear ring, and the output flange is fixed on the second inner gear ring and simultaneously presses the end face of the outer ring of the cross bearing and is fixed through a screw.
Further, all there is the oil blanket to seal in the inside and outside of output flange, and wherein, inside oil blanket is installed on wrist casing, and outside oil blanket is installed on the end cover, and the lip of inside oil blanket and outside oil blanket all is used in realizing sealedly on output flange.
Further, the tooth parameters of the first inner gear ring and the second inner gear ring are the same.
Furthermore, in the rotating structure of the drive bevel gear, the second bearing is provided with two bearing positions which are arranged in parallel in the shaft sleeve.
Furthermore, a second gasket is padded between the first bearing and the third set screw, and the third set screw compresses the first bearing by compressing the second gasket.
Further, the end face of the first bearing is flush with the top end of the shaft sleeve.
Compared with the prior art, the utility model, following beneficial effect has:
the utility model provides an industrial robot wrist transmission structure's end drive structure, its inside adjustment mechanism who is equipped with bevel gear pair backlash to realize the elimination of gear backlash when using bevel gear transmission structure, improve its positioning accuracy as far as possible. And simultaneously, the utility model discloses an industrial robot wrist transmission structure's end transmission structure still has the outward appearance small and exquisite, and compact structure, weight advantage lighter can reduce the robot energy consumption loss that self weight caused, can effectively realize industrial robot wrist workload's promotion to further promote its work efficiency.
Drawings
Fig. 1 is a schematic diagram of an end transmission structure of an industrial robot wrist transmission structure of the present invention.
Fig. 2 is a schematic view of the transmission principle of the end transmission structure of the wrist transmission structure of the industrial robot.
Fig. 3 is a schematic diagram of a driving bevel gear rotating structure in the end transmission structure of the industrial robot wrist transmission structure of the present invention.
Fig. 4 is a schematic diagram of a driven bevel gear rotating structure in the end transmission structure of the industrial robot wrist transmission structure.
Reference numerals: 1-small arm shell, 2-small end cover, 3-spline housing, 4-deep groove ball bearing, 5-wrist shell, 6-synchronous wheel, 7-shaft sleeve, 8-first bearing, 9-second bearing, 10-driving bevel gear, 11-locking screw, 12-first set screw, 13-first gasket, 14-driven bevel gear, 15-pre-tightening spring, 16-gear shaft, 17-second gasket, 18-roller bearing, 19-first inner gear ring, 20-second set screw, 21-spacer bush, 22-second inner gear ring, 23-cross bearing, 24-output flange, 25-end cover, 26-third gasket, 27-third set screw and 28-pressure ring.
Detailed Description
The present invention will be further illustrated and described with reference to the following examples.
Example (b):
the first embodiment is as follows:
as shown in fig. 1 and 2, an end transmission structure of an industrial robot wrist transmission structure comprises a forearm housing 1 and a wrist housing 5, wherein a drive bevel gear rotation structure is installed in the forearm housing 1, and as shown in fig. 3, the drive bevel gear rotation structure specifically comprises a drive bevel gear 10, a first bearing 8, a second bearing 9, a shaft sleeve 7 and a synchronizing wheel 6. The first bearing 8 is pressed in one bearing position of the shaft sleeve 7, the end face of the first bearing 8 is flush with the top end of the shaft sleeve 7, the second bearings 9 are specifically two and are arranged in the other bearing position of the shaft sleeve 7 in parallel, the driving bevel gear 10 is arranged in the second bearing 9 and limited to the small end face, and the third set screw 27 presses the first bearing 8 through pressing the second gasket 17; the synchronizing wheel 6 is installed in the second bearing 9 above the drive bevel gear 10, and the synchronizing wheel 6 is locked with the drive bevel gear 10 by a locking screw 11, thereby constituting a drive bevel gear rotating structure and being integrally installed in the forearm housing 1.
The wrist shell 5 is connected with the bottom of the shaft sleeve 7 through a screw, a driven bevel gear rotating structure is installed at one end of the wrist shell 5, and a gear ring component is installed at the other end of the wrist shell 5.
As shown in fig. 4, the driven bevel gear rotating structure includes a driven bevel gear 14, a gear shaft 16, a roller bearing 18, a deep groove ball bearing 4 and a spline housing 3, specifically: the inner ring of the roller bearing 18 is arranged in a bearing position at one end of a gear shaft 16 and is limited by a shaft stop, the other end of the gear shaft 16 is arranged in a driven bevel gear 14 and is locked by a first set screw 12 and a first gasket 13, an external spline is arranged on the shaft surface of the driven bevel gear 14, an internal spline matched with the external spline is arranged on the inner wall of the spline housing 3, the spline housing 3 is sleeved on the shaft of the driven bevel gear 14, a pre-tightening spring 15 is further sleeved on the shaft of the driven bevel gear 14, one end of the pre-tightening spring 15 is connected with a shaft shoulder of the driven bevel gear 14, the other end of the pre-tightening spring 15 is abutted against the spline housing 3, and a deep groove ball bearing 4 is further embedded.
The driven bevel gear rotating structure is arranged in the wrist shell 5 and is packaged and pressed tightly through the small end cover 2, the small end cover 2 is abutted against the spline housing 3 through a third gasket 26, the driven bevel gear rotating structure is arranged behind the wrist shell 5, the driven bevel gear 14 is engaged with the drive bevel gear 10 in the rotational structure of the drive bevel gear, in the rotating structure of the driven bevel gear, the pre-tightening spring 15 pushes the driven bevel gear 14, so that the purpose of eliminating the backlash between the driving bevel gear 10 and the driven bevel gear 14 can be achieved, and during detection, the meshing state of the bevel gear pair of the driving bevel gear 10 and the driven bevel gear 14 is checked by turning the synchronizing wheel 6 by a hand, if the engagement state is not right, the pretightening force of the pretightening spring 15 can be adjusted by adjusting the thickness of the third gasket 26, so as to adjust the thrust of the pre-tightening spring 15 to the driven bevel gear 14 to make the bevel gear pair reach the best meshing state. If the backlash between the driving bevel gear 10 and the driven bevel gear 14 is too large, the thickness of the third spacer 26 may be increased to increase the thrust of the pre-tightening spring 15 on the driven bevel gear 14, thereby adjusting the engagement state of the bevel gear 10 and the bevel gear pair of the driven bevel gear 14, and then the synchronizing wheel 6 may be turned by hand to check whether the bevel gear pair of the driving bevel gear 10 and the driven bevel gear 14 rotates smoothly, and whether the click-stop is sensed.
Specifically, the gear ring component comprises a first inner gear ring 19, a second inner gear ring 22, a crossed bearing 23 and an output flange 24, the first inner gear ring 19 and the second inner gear ring 22 are fixed through a spacer 21 and a second set screw 20 to form a whole gear ring, the gear parameters are the same, a cross bearing 23 is arranged in the second inner gear ring 22, the gear ring component is integrally placed in the wrist shell 5, specifically, the gear ring component is arranged at the bearing position of the wrist shell 5 by the inner ring of the cross bearing 23, the inner ring end face of the crossed bearing 23 is pressed by the pressing ring 28 and locked by the screw, so that the gear shaft 16 is meshed with the first inner gear ring 19 and the second inner gear ring 22, the output flange 24 is fixed on the second inner gear ring 22, meanwhile, the end face of the outer ring of the crossed bearing 23 is pressed and fixed by a screw, and the gear ring is manually finished by a hand to check whether the gear ring rotates freely or not, so that a non-blocking clamping point exists.
Preferably, there are oil seals on both the inside and outside of the output flange 24, where the inner oil seal is mounted on the wrist housing 5 and the outer oil seal is mounted on the end cap 25, and the lips of both the inner and outer oil seals act on the output flange 24 to effect sealing.
To sum up, the utility model discloses an industrial robot wrist transmission structure's end transmission structure in, the pretightning force of pretension spring is adjusted to the thickness that the third gasket was adjusted to the accessible to adjust the pretension spring to make bevel gear pair reach best engagement state to driven bevel gear's thrust, thereby realize reducing gear drive's sideshake as far as when using bevel gear transmission structure, improve its positioning accuracy as far as possible. And simultaneously, the utility model discloses an industrial robot wrist transmission structure's end transmission structure still has the outward appearance small and exquisite, and compact structure, weight advantage lighter can reduce the robot energy consumption loss that self weight caused, can effectively realize industrial robot wrist workload's promotion to further promote its work efficiency.
It is to be understood that the above embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A tail end transmission structure of an industrial robot wrist transmission structure comprises a small arm shell (1) and a wrist shell (5), and is characterized in that a driving bevel gear rotating structure is installed in the small arm shell (1), a driven bevel gear rotating structure is installed at one end of the wrist shell (5), a gear ring component is installed at the other end of the wrist shell, and the driving bevel gear rotating structure specifically comprises a driving bevel gear (10), a first bearing (8), a second bearing (9), a shaft sleeve (7) and a synchronizing wheel (6);
the first bearing (8) is pressed in one bearing position of the shaft sleeve (7), the second bearing (9) is arranged in the other bearing position of the shaft sleeve (7), the driving bevel gear (10) is arranged in the second bearing (9), and the first bearing (8) is pressed by a third set screw (27); the synchronizing wheel (6) is arranged in the second bearing (9) and is positioned above the driving bevel gear (10), and the synchronizing wheel (6) is locked with the driving bevel gear (10) through a locking screw (11), so that a driving bevel gear rotating structure is formed and is integrally installed in the small arm shell (1); the wrist shell (5) is connected with the bottom of the shaft sleeve (7) through a screw.
2. The end transmission structure of an industrial robot wrist transmission structure according to claim 1, characterized in that the driven bevel gear rotation structure comprises a driven bevel gear (14), a gear shaft (16), a roller bearing (18), a deep groove ball bearing (4) and a spline housing (3), wherein the inner ring of the roller bearing (18) is installed in the bearing position of one end of the gear shaft (16) and is limited by a shaft stop, the other end of the gear shaft (16) is installed in the driven bevel gear (14) and is locked by a first set screw (12) and a first gasket (13), the shaft surface of the driven bevel gear (14) is provided with an external spline, the inner wall of the spline housing (3) is provided with an internal spline matched with the external spline, the spline housing (3) is sleeved on the shaft of the driven bevel gear (14), and an elastic member is sleeved on the shaft of the driven bevel gear (14), one end of the elastic member is connected with the shaft shoulder of the driven bevel gear (14), the other end of the elastic component is abutted against the spline housing (3), and a deep groove ball bearing (4) is embedded on the surface of the spline housing (3).
3. The end transmission structure of an industrial robot wrist transmission structure according to claim 2, characterized in that the driven bevel gear rotating structure is installed in the wrist housing (5) and encapsulated and pressed by a small end cover (2), the driven bevel gear (14) is engaged with the driving bevel gear (10), and the small end cover (2) is abutted with the spline housing (3) through a third gasket (26).
4. An end transmission of an industrial robot wrist transmission according to claim 2, characterized in that the resilient member is a pre-tensioned spring (15).
5. The end transmission structure of an industrial robot wrist transmission structure according to claim 2, characterized in that the gear ring assembly comprises a first inner gear ring (19), a second inner gear ring (22), a cross bearing (23) and an output flange (24), the first inner gear ring (19) and the second inner gear ring (22) are fixed by a spacer (21) and a second set screw (20) to form a whole gear ring, the cross bearing (23) is installed inside the second inner gear ring (22), the gear ring assembly is integrally placed in the wrist housing (5), the gear ring assembly is specifically installed at a bearing position of the wrist housing (5) by an inner ring of the cross bearing (23), and is pressed by a pressing ring (28) against an inner ring end surface of the cross bearing (23) and locked by screws, so that the gear shaft (16) is engaged with the first inner gear ring (19) and the second inner gear ring (22), the output flange (24) is fixed on the second inner gear ring (22) and simultaneously presses the outer ring end surface of the crossed bearing (23) and is fixed by screws.
6. An end transmission for an industrial robot wrist transmission according to claim 5, characterized in that there are oil seals at the inner and outer part of the output flange (24) for sealing, wherein the inner oil seal is mounted on the wrist housing (5), the outer oil seal is mounted on the end cap (25), and the lips of both the inner and outer oil seals act on the output flange (24) for sealing.
7. An end transmission of an industrial robot wrist transmission according to claim 5, characterized in that the first ring gear (19) and the second ring gear (22) have the same tooth parameters.
8. An end transmission structure of an industrial robot wrist transmission structure according to any one of claims 1-7, characterized in that in the drive bevel gear rotating structure, the second bearing (9) is embodied in two and is parallelly arranged in the bearing position of the shaft sleeve (7).
9. An end transmission structure of an industrial robot wrist transmission structure according to any of claims 1-7, characterized in that a second spacer (17) is padded between the first bearing (8) and the third set screw (27), and the third set screw (27) presses the first bearing (8) by pressing the second spacer (17).
10. An end transmission structure of an industrial robot wrist transmission structure according to any of claims 1-7, characterized in that the end surface of the first bearing (8) is flush with the top end of the bushing (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920530907.7U CN210025355U (en) | 2019-04-18 | 2019-04-18 | End transmission structure of industrial robot wrist transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920530907.7U CN210025355U (en) | 2019-04-18 | 2019-04-18 | End transmission structure of industrial robot wrist transmission structure |
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| Publication Number | Publication Date |
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| CN210025355U true CN210025355U (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920530907.7U Active CN210025355U (en) | 2019-04-18 | 2019-04-18 | End transmission structure of industrial robot wrist transmission structure |
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| CN (1) | CN210025355U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2019
- 2019-04-18 CN CN201920530907.7U patent/CN210025355U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 610000 No. 42, Huatai Road, Chenghua District, Chengdu, Sichuan Patentee after: Chengdu kanop Robot Technology Co.,Ltd. Address before: No.199, Huaguan Road, Longtan Industrial Park, Chenghua District, Chengdu, Sichuan 610000 Patentee before: CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |