CN213703477U - Wrist structure of robot and robot - Google Patents
Wrist structure of robot and robot Download PDFInfo
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- CN213703477U CN213703477U CN202021987960.9U CN202021987960U CN213703477U CN 213703477 U CN213703477 U CN 213703477U CN 202021987960 U CN202021987960 U CN 202021987960U CN 213703477 U CN213703477 U CN 213703477U
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Abstract
The utility model relates to a robot equipment technical field specifically is a robot wrist structure, including first wrist component, second wrist component, still include: a servo motor installed in the first wrist member; the output side of the speed reducer is used for driving the second wrist member to rotate; the input gear is arranged on an output shaft of the servo motor; an idler wheel rotatably mounted on the first wrist member; the output gear is arranged on the speed reducer; the idler wheel swings by taking the center distance between the idler wheel and the output gear as a radius and taking the axis of the output gear as a circle center; the moving mechanism drives the servo motor to move radially and adjusts the distance between the input gear and the output gear; the moving mechanism is used for adjusting the gap between the input gear and the idler gear so as to change the stress direction of the idler gear to prolong the service life of the gear, effectively control the transmission precision of the gear, and meanwhile, the robot with the wrist structure can effectively improve the track precision.
Description
Technical Field
The utility model relates to a robot equipment technical field specifically is a wrist structure and robot of robot.
Background
In the application of robot deburring, the tail end is stressed greatly, and the requirement on the rigidity of the wrist is high, so that when the robot wrist is designed, the gear transmission scheme is commonly used, and the robot deburring device has the characteristics of high rigidity, stable transmission, compact structure and the like.
For example, the industrial robot wrist structure part with the Chinese patent number of 201410262008.5 and the robot gear transmission wrist with the Chinese patent application number of 201721782653.5 both provide a gear transmission scheme for the robot wrist, however, the gear transmission can generate clearance and tooth surface abrasion after long-time running, and the rigidity and the tail end track precision of the robot are affected, therefore, the maintenance cost is reduced, the clearance of the gear after long-time running can be reduced, the stress of the tooth surface contact surface can be improved, the service life of the gear is prolonged, and the precision of the robot running is ensured.
Disclosure of Invention
In order to solve the above problem, the utility model provides a wrist structure and robot of robot.
A robot wrist construction comprising a first wrist member at a front end of a robot, a second wrist member rotatably fitted around the first wrist member, further comprising:
a servo motor installed in the first wrist member as a power element;
the input side of the speed reducer is fixed in the first wrist element, and the output side of the speed reducer is used for driving the second wrist element to rotate;
the input gear is arranged on an output shaft of the servo motor;
an idler gear rotatably mounted on the first wrist member for transmitting torque in meshing engagement with the input gear;
the output gear is arranged on the speed reducer and is used for being meshed with the idle gear to transmit torque to the input side of the speed reducer;
the idler wheel swings by taking the center distance between the idler wheel and the output gear as a radius and taking the axis of the output gear as a circle center;
and the moving mechanism drives the servo motor to move radially to adjust the distance between the input gear and the output gear.
The first wrist element is provided with a first mounting hole and a second mounting hole which are in an oval shape, and is also provided with arc grooves symmetrically distributed on two sides, and the angle of each arc groove is +/-a; the second mounting hole is coaxial with the output gear and the speed reducer.
The long side diameter of the first mounting hole is larger than the outer diameter of the input gear and the maximum moving amount of the moving mechanism.
The maximum angle formed by the idler wheel rotating around the output gear is the angle +/-a of the arc-shaped groove.
In the initial state, the distance between the input gear and the output gear reaches a maximum value Lmax, and when the idle gear moves to an angle-a, a minimum distance Lmin is reached between the input gear and the output gear.
The arc-shaped groove is provided with a first positioning hole, a second positioning hole and a third positioning hole for mounting an idler wheel; the first positioning hole is positioned below the horizontal axis by an angle-a, the second positioning hole is arranged on the first wrist element, the third positioning hole is positioned above the horizontal axis by an angle a, the value of a is adjusted according to the width of the first wrist element, and the value of a ranges from 10 degrees to 20 degrees.
The idler wheel is positioned in the arc-shaped groove, a bearing is installed on the inner wall of the idler wheel, a transmission shaft is arranged on the inner ring of the bearing, and an outer retainer ring and an inner retainer ring which limit the axial movement of the bearing are arranged on the bearing.
The moving mechanism comprises a first mounting plate and a second mounting plate for mounting the servo motor, through holes arranged on the first mounting plate, a gasket for positioning the first mounting plate through screws, and a fixing plate which is matched in a sliding mode and used for positioning the second mounting plate through screws.
A robot having the above-described wrist structure.
The utility model has the advantages that: the moving mechanism is used for adjusting the gap between the input gear and the idler gear so as to change the stress direction of the idler gear to prolong the service life of the gear, effectively control the transmission precision of the gear, and meanwhile, the robot with the wrist structure can effectively improve the track precision.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic diagram of a three-dimensional structure of a robot of the present invention;
fig. 2 is a schematic view of an initial state of the wrist structure of the robot of the present invention;
FIG. 3 is a schematic diagram of the adjusted structure of the wrist of the robot of the present invention;
fig. 4 is a schematic two-dimensional structure of the first wrist member of the present invention;
fig. 5 is a structural view of a moving mechanism according to a first embodiment of the present invention;
fig. 6 is a structural view of a moving mechanism according to a second embodiment of the present invention;
description of reference numerals: 1. a robot; 10. a base; 11. rotating; 12. a first wire passing sleeve; 13. a robot arm; 13a, a lower axis; 13b, an upper axis; 14. a second wire passing sleeve; 15. a gear case; 16. a first wrist member; 17. a second wrist member; 2. a robot wrist; 20. a servo motor; 21. an input gear; 22. an idler pulley; 23. an output gear; 24. a speed reducer; 25. a moving mechanism; 30. a bearing; 31. a drive shaft; 32. an inner retainer ring; 33. an outer retainer ring; 161. a first mounting hole; 162. an arc-shaped groove; 163. a second mounting hole; 162a, a first locating hole; 162b, a second positioning hole; 162c, a third positioning hole; 251. a first mounting plate; 252. a gasket; 253. a fixing plate; 254. a second mounting plate; 251a, through holes.
Detailed Description
In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.
As shown in fig. 1 to 6, a robot wrist structure includes a first wrist member 16 at a front end of a robot 1, a second wrist member 17 rotatably fitted around the first wrist member 16, and further includes:
a servo motor 20 as a power element mounted in the first wrist member 16;
a speed reducer 24 having an input side fixed in the first wrist member 16 and an output side for rotationally driving the second wrist member 17;
an input gear 21 mounted on an output shaft of the servo motor 20;
an idler gear 22 rotatably mounted on the first wrist member 16 for meshing with the input gear 21 to transmit torque;
an output gear 23 mounted on the speed reducer 24 for meshing with the idle gear 22 to transmit torque to an input side of the speed reducer 24;
the idle gear 22 swings by taking the center distance between the idle gear 22 and the output gear 23 as a radius and taking the axis of the output gear 23 as a circle center;
the moving mechanism 25 drives the servo motor 20 to move radially, and adjusts the distance between the input gear 21 and the output gear 23.
The first wrist element 16 is provided with a first mounting hole 161 and a second mounting hole 163 which are oval, and also provided with arc-shaped grooves 162 which are symmetrically distributed at two sides, wherein the angle of the arc-shaped groove 162 is +/-a; the second mounting hole 163 is coaxial with the output gear 23 and the speed reducer 24.
The moving mechanism 25 is used for adjusting the gap between the input gear 21 and the idle gear 22 so as to change the stress direction of the idle gear 22 to prolong the service life of the gear, effectively control the gear transmission precision, and meanwhile, the robot with the wrist structure can effectively improve the track precision.
The long side diameter of the first mounting hole 161 is larger than the outer diameter of the input gear 21 and the maximum moving amount of the moving mechanism 25.
The maximum angle formed by the idle gear 22 rotating around the output gear 23 is the angle ± a of the circular arc groove 162.
The angle a is limited by the diameter of the idler pulley 22, the value of the idler pulley 22 is such that when the robot wrist 2 is narrow, the maximum range of a may only be 10 °, if larger, the outer diameter of the idler pulley 22 after installation is outside the wrist, if the wrist is wider, the range of a may be expanded, where the determined value is the diameter of the idler pulley 22.
As shown in fig. 2, in the initial state of the robot wrist 2, the input gear 21, the idle gear 22 and the output gear 23 are on the same horizontal line during initial installation, and in the initial state, the distance between the input gear 21 and the output gear 23 reaches the maximum value Lmax, wherein the input gear 21 is mounted on the servo motor 20, the output gear 23 is mounted on the reducer 24, and in the initial state, since the distance between the input gear 21 and the output gear 23 is in the maximum condition during the use of the robot 1, the idle gear 22 is located between the input gear 21 and the output gear 23, and will receive parallel acting force on two sides, the tooth surface is stressed greatly, and the running wear is accelerated.
In the initial state, the distance between the input gear 21 and the output gear 23 reaches the maximum value Lmax, and when the idle gear 22 moves to the-a angle, the distance between the input gear 21 and the output gear 23 reaches the minimum value Lmin.
As shown in fig. 3, in the adjusted position state of the robot wrist 2, the idle gear 22 can rotate around the center distance between the idle gear 22 and the output gear 23 as a radius, when the idle gear 22 is rotatably mounted at an angle-a, the stress on the tooth surfaces of the idle gear 22 and the input gear 21 and the output gear 23 can be changed, the stress on the tooth surfaces can be reduced, meanwhile, after the gear runs for a long time, a gap can be generated, when the idle gear 22 is adjusted, the input gear 21 can be moved to adjust the meshing position of the input gear 21 and the idle gear 22 to achieve the purpose of adjusting the gap, and in the figure, when the idle gear 22 is moved to an angle-a, the minimum distance Lmin between the input gear 21 and the output gear 23 can be achieved.
As shown in fig. 4, the circular arc groove 162 is provided with a first positioning hole 162a, a second positioning hole 162b and a third positioning hole 162c for mounting the idler pulley 22; the first positioning hole 162a is located at a lower angle-a from the horizontal axis, the second positioning hole 162b is disposed on the first wrist member 16, and the third positioning hole 162c is located at an upper angle a from the horizontal axis, wherein a is adjusted in value according to the width of the first wrist member 16, and a ranges from 10 to 20.
The idle wheel 22 is positioned in the arc-shaped groove 162, the bearing 30 is installed on the inner wall of the idle wheel 22, the transmission shaft 31 is arranged on the inner ring of the bearing 30, and the bearing 30 is provided with an outer retainer ring 33 and an inner retainer ring 32 which limit the axial movement of the bearing.
The moving mechanism 25 includes a first mounting plate 251 and a second mounting plate 254 for mounting the servo motor 20, a through hole 251a provided on the first mounting plate 251, a spacer 252 for positioning the first mounting plate 251 by a screw, and a fixing plate 253 slidably engaged with and positioning the second mounting plate 254 by a screw.
A robot is provided with the robot wrist structure.
As shown in fig. 1, the robot 1 is a six-axis articulated robot, and includes a base 10, a swivel base 11 and a gear box 15 which are provided on the base 10 and rotate around an axis of the base 10, and a robot arm 13 which is rotatably mounted on the swivel base 11, wherein the swivel base 11 is further mounted with a first cable passing sleeve 12, the robot arm 13 can rotate around a lower axis 13a of the first cable passing sleeve 12, and a robot cable enters the robot arm 13 from the swivel base 11 through the first cable passing sleeve 12; on the upper side of the robot arm 13, a second thread bushing 14 of similar structure is mounted, the second thread bushing 14 is mounted on a gear box 15, and the gear box 15 drives the second thread bushing 14 to rotate around the upper axis 13b of the robot arm.
The first wrist member 16 is attached to the front end of the gear case 15, and the first wrist member 16 is rotatable about the axis of the gear case 15.
The interior of the robot arm 13 is of a hollow structure.
The utility model discloses a use method: as shown in fig. 3 and 5, in the first embodiment of the moving mechanism 25, the servo motor 20 is mounted on the first mounting plate 251, the input gear 21 is mounted at the output end of the servo motor 20, the input gear 21 is meshed with the idle gear 22, the bearing 30 is mounted on the inner wall of the idle gear 22, the inner ring of the bearing 30 is mounted on the transmission shaft 31, the inner ring of the bearing 30 is fixed to the transmission shaft 31 through the inner retainer 32, and the outer retainer 33 is fixed to the outer ring of the bearing 30; when the position of the idle gear 22 is adjusted, the center distance between the input gear 21 and the idle gear 22 is increased, which results in non-engagement, therefore, the center distance needs to be adjusted by the moving mechanism 25, wherein the diameter of the through hole 251a of the first mounting plate 251 is larger than the adjustable amount, the first mounting plate 251 slides integrally after being adjusted, the input gear 21 and the idle gear 22 are completely engaged, and the first mounting plate 251 is fixed by a screw through the gasket 252;
as shown in fig. 3 and 6, in the second embodiment of the moving mechanism 25, the servo motor 20 is mounted on the second mounting plate 254, the output end of the servo motor 20 is provided with the input gear 21, the input gear 21 is meshed with the idle gear 22, the inner wall of the idle gear 22 is provided with the bearing 30, the inner ring of the bearing 30 is mounted on the transmission shaft 31, the inner ring of the bearing 30 is fixed with the transmission shaft 31 through the inner retainer ring 32, and the outer retainer ring 33 is fixed with the outer ring of the bearing 30; when the position of the idle gear 22 is adjusted, the center distance between the input gear 21 and the idle gear 22 becomes large, so that the idle gear cannot be meshed, and therefore, the center distance needs to be adjusted by the moving mechanism 25; the second mounting plate 254 drives the servo motor 20 to adjust, and after the input gear 21 and the idler gear 22 are completely meshed, the servo motor is fixed through the fixing plate 253;
as shown in fig. 3, 4, 5, and 6, since the position of the idle gear 22 varies, the input gear 21 needs to be moved horizontally to adjust the meshing position, and therefore, the diameter of the long side L of the input gear 21 passing through the first mounting hole 161 of the first wrist member 16 is larger than the diameter of Lmax-Lmin + the input gear 21.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A robot wrist construction comprising a first wrist element (16) at the front end of a robot (1), a second wrist element (17) rotatably fitted around the first wrist element (16), characterized in that: further comprising:
a servo motor (20) installed in the first wrist member (16) as a power element;
a speed reducer (24) having an input side fixed in the first wrist member (16) and an output side for rotationally driving the second wrist member (17);
an input gear (21) mounted on an output shaft of the servo motor (20);
an idler gear (22) rotatably mounted on the first wrist member (16) for meshing with the input gear (21) to transmit torque;
the output gear (23) is arranged on the speed reducer (24) and is used for being meshed with the idle gear (22) to transmit torque to the input side of the speed reducer (24);
the idle gear (22) swings by taking the center distance between the idle gear (22) and the output gear (23) as a radius and taking the axis of the output gear (23) as a circle center;
and the moving mechanism (25) drives the servo motor (20) to move in the radial direction to adjust the distance between the input gear (21) and the output gear (23).
2. A robot wrist construction according to claim 1, characterized in that: the first wrist element (16) is provided with a first mounting hole (161) and a second mounting hole (163) which are oval, and is also provided with arc-shaped grooves (162) which are symmetrically distributed at two sides, and the angle of the arc-shaped groove (162) is +/-a; the second mounting hole (163) is coaxial with the output gear (23) and the speed reducer (24).
3. A robot wrist construction according to claim 2, characterized in that: the long side diameter of the first mounting hole (161) is larger than the outer diameter of the input gear (21) and the maximum moving amount of the moving mechanism (25).
4. A robot wrist construction according to claim 2, characterized in that: the maximum angle formed by the idle gear (22) rotating around the output gear (23) is the angle +/-a of the circular arc groove (162).
5. A robot wrist construction according to claim 4, characterized in that: in the initial state, the distance between the input gear (21) and the output gear (23) reaches a maximum value Lmax, and when the idle gear (22) moves to an angle-a, the distance between the input gear (21) and the output gear (23) reaches a minimum value Lmin.
6. A robot wrist construction according to claim 5, characterised in that: the arc-shaped groove (162) is provided with a first positioning hole (162a), a second positioning hole (162b) and a third positioning hole (162c) for installing the idler wheel (22); the first positioning hole (162a) is located at a lower angle of-a with respect to the horizontal axis, the second positioning hole (162b) is disposed on the first wrist member (16), and the third positioning hole (162c) is located at an upper angle of a with respect to the horizontal axis, wherein a is adjusted in value according to the width of the first wrist member (16), and a has a value ranging from 10 ° to 20 °.
7. A robot wrist construction according to claim 2, characterized in that: the idle wheel (22) is positioned in the arc-shaped groove (162), the bearing (30) is installed on the inner wall of the idle wheel (22), the transmission shaft (31) is arranged on the inner ring of the bearing (30), and the bearing (30) is provided with an outer retainer ring (33) and an inner retainer ring (32) which limit the axial movement of the bearing.
8. A robot wrist construction according to claim 1, characterized in that: the moving mechanism (25) comprises a first mounting plate (251) and a second mounting plate (254) for mounting the servo motor (20), a through hole (251a) arranged on the first mounting plate (251), a gasket (252) for positioning the first mounting plate (251) through a screw, and a fixing plate (253) which is matched in a sliding mode and positions the second mounting plate (254) through the screw.
9. A robot, characterized by: the robot has a robot wrist structure according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021987960.9U CN213703477U (en) | 2020-09-12 | 2020-09-12 | Wrist structure of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021987960.9U CN213703477U (en) | 2020-09-12 | 2020-09-12 | Wrist structure of robot and robot |
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| Publication Number | Publication Date |
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| CN213703477U true CN213703477U (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021987960.9U Active CN213703477U (en) | 2020-09-12 | 2020-09-12 | Wrist structure of robot and robot |
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| CN (1) | CN213703477U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123367A (en) * | 2020-09-12 | 2020-12-25 | 埃夫特智能装备股份有限公司 | Wrist structure of robot and robot |
-
2020
- 2020-09-12 CN CN202021987960.9U patent/CN213703477U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123367A (en) * | 2020-09-12 | 2020-12-25 | 埃夫特智能装备股份有限公司 | Wrist structure of robot and robot |
| CN112123367B (en) * | 2020-09-12 | 2023-12-15 | 埃夫特智能装备股份有限公司 | Robot wrist structure and robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220810 Address after: 201600 room 602, building 5, 1158 Zhongxin Road, Songjiang District, Shanghai Patentee after: Shanghai Edge Robot Technology Co.,Ltd. Address before: 241000 No. 96 Wanchun East Road, Jiujiang Economic Development Zone, Wuhu City, Anhui Province Patentee before: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. |
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| TR01 | Transfer of patent right |