CN213918290U - Economical robot joint structure - Google Patents
Economical robot joint structure Download PDFInfo
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- CN213918290U CN213918290U CN202022390729.8U CN202022390729U CN213918290U CN 213918290 U CN213918290 U CN 213918290U CN 202022390729 U CN202022390729 U CN 202022390729U CN 213918290 U CN213918290 U CN 213918290U
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Abstract
The utility model relates to an industrial robot technical field, in particular to economical robot joint structure. The waist seat is connected with the base through a first-shaft rotary inner gear ring bearing, and the first-shaft gear driving device is arranged on the waist seat and meshed with the first-shaft rotary inner gear ring bearing; one end of the large arm is connected with the waist seat through a two-shaft rotary inner gear ring bearing, and the two-shaft gear driving device is arranged on the waist seat and is meshed with the two-shaft rotary inner gear ring bearing; the other end of the large arm is connected with one end of the small arm through a three-axis rotary inner gear ring bearing, and a three-axis gear driving device is arranged on the small arm and is meshed with the three-axis rotary inner gear ring bearing; the four-five-six shaft driving unit is arranged at the other end of the small arm. The utility model has the advantages of simple structure, low cost, large range of motion, wide application range and the like.
Description
Technical Field
The utility model relates to an industrial robot technical field, in particular to economical robot joint structure.
Background
Robots are increasingly used in various industries, such as the fields of carrying, spot welding, stacking and the like, and as is well known, welding processing requires a welder to have skilled operating skills, rich practical experience and stable welding level; on the other hand, welding is a work with poor working conditions, much smoke, large heat radiation and high danger. The appearance of the welding industrial robot reduces the labor intensity of a welder, improves the welding efficiency and simultaneously ensures the welding quality. In a multitasking environment, one robot can perform not only welding but also various tasks including picking up, carrying, and mounting of welding. At present, a welding robot for welding large-size workpieces has the problems of high cost, small movement range, limited application environment and the like.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide an economical robot joint structure to the cost of solving current large-scale work piece welding robot is higher, and the motion range is little and the limited problem of adaptation environment.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an economical robotic joint structure comprising: the waist support is connected with the base through the first-shaft rotary inner gear ring bearing, and the first-shaft gear driving device is arranged on the waist support and meshed with the first-shaft rotary inner gear ring bearing; one end of the large arm is connected with the waist seat through a two-shaft rotary inner gear ring bearing, and the two-shaft gear driving device is arranged on the waist seat and meshed with the two-shaft rotary inner gear ring bearing; the other end of the large arm is connected with one end of the small arm through a three-axis rotary inner gear ring bearing, and the three-axis gear driving device is arranged on the small arm and meshed with the three-axis rotary inner gear ring bearing; the four-five-six shaft driving unit is arranged at the other end of the small arm.
The first shaft gear driving device, the second shaft gear driving device and the third shaft gear driving device have the same structure and respectively comprise a servo motor, a multi-stage speed reducer and a driving gear which are sequentially connected;
a driving gear in the shaft gear driving device is meshed with the shaft rotary inner gear ring bearing;
a driving gear in the two-shaft gear driving device is meshed with the two-shaft rotary inner gear ring bearing;
and a driving gear in the triaxial gear driving device is meshed with the triaxial rotary inner gear ring bearing.
The multistage speed reducer comprises a primary speed reducer and a secondary RV speed reducer which are sequentially connected, and an input shaft of the primary speed reducer is connected with an output shaft of the servo motor; and an output shaft of the secondary RV reducer is connected with the driving gear.
The rotation axes of the two-shaft rotation inner gear ring bearing and the three-shaft rotation inner gear ring bearing are parallel to each other and are perpendicular to the rotation axis of the one-shaft rotation inner gear ring bearing.
The first-shaft rotary inner gear ring bearing, the second-shaft rotary inner gear ring bearing and the third-shaft rotary inner gear ring bearing are four-point contact rotary inner gear ring bearings.
The inner ring of the bearing of the inner ring gear of the one-shaft rotation is connected with the base, and the outer ring of the bearing of the inner ring gear of the one-shaft rotation is connected with the waist seat.
The inner ring of the two-shaft rotary inner gear ring bearing is connected with the large arm, and the outer ring of the two-shaft rotary inner gear ring bearing is connected with the waist seat.
The inner ring of the three-axis rotary inner gear ring bearing is connected with the large arm, and the outer ring of the three-axis rotary inner gear ring bearing is connected with the small arm.
The base, the waist seat, the large arm and the small arm are all hollow tailor-welded bodies.
The utility model has the advantages and beneficial effects that: the utility model provides a pair of economical robot joint structure has simple structure, and is with low costs, and the range of motion is big, advantages such as range of application is wide.
The utility model has the advantages of internal wiring and strong environmental adaptability; the tailor-welded structure has the advantages of random modeling and beautiful appearance.
Drawings
Fig. 1 is an axonometric view of the joint structure of the economical robot of the invention;
fig. 2 is a front view of the joint structure of the economical robot of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
fig. 4 is an enlarged view of fig. 3 at I.
In the figure: the device comprises a base 1, a primary rotary inner gear ring bearing 2, a primary gear driving device 3, a waist seat 4, a secondary gear driving device 5, a secondary rotary inner gear ring bearing 6, a large arm 7, a three-shaft gear driving device 8, a three-shaft rotary inner gear ring bearing 9, a small arm 10, a four-five-six-shaft driving unit 11, a servo motor 31, a primary speed reducer 32, a secondary RV speed reducer 33 and a driving gear 34.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the utility model provides an economical robot joint structure, including base 1, one axle gyration ring gear bearing 2, one axle gear drive arrangement 3, waist seat 4, two axle gear drive arrangement 5, two axle gyration ring gear bearing 6, big arm 7, three axle gear drive arrangement 8, three axle gyration ring gear bearing 9, forearm 10 and four five six axle drive units 11, wherein waist seat 4 is connected with base 1 through one axle gyration ring gear bearing 2, one axle gear drive arrangement 3 sets up on waist seat 4 to with one axle gyration ring gear bearing 2 meshing; one end of the large arm 7 is connected with the waist seat 4 through a two-shaft rotary inner gear ring bearing 6, and the two-shaft gear driving device 5 is arranged on the waist seat 4 and meshed with the two-shaft rotary inner gear ring bearing 6; the other end of the large arm 7 is connected with one end of a small arm 10 through a three-axis rotary inner gear ring bearing 9, and a three-axis gear driving device 8 is arranged on the small arm 10 and meshed with the three-axis rotary inner gear ring bearing 9; a four-five-six axis drive unit 11 is provided at the other end of the small arm 10.
The embodiment of the utility model provides an in, a gyration ring gear bearing 2, two axle gyration ring gear bearings 6 and triaxial gyration ring gear bearing 9 all adopt four point contact gyration ring gear bearing. The rotation axes of the two-axis rotation inner gear ring bearing 6 and the three-axis rotation inner gear ring bearing 9 are parallel to each other and are both perpendicular to the rotation axis of the one-axis rotation inner gear ring bearing 2. The first-shaft rotary inner gear ring bearing 2, the second-shaft rotary inner gear ring bearing 6 and the third-shaft rotary inner gear ring bearing 9 can also be in other types of inner gear rotary bearings, such as rollers, oilless bushes and the like, wherein the ball backlash eliminating mode of the first-shaft rotary inner gear ring bearing 2 is a ball preloading method, and the ball backlash eliminating mode of the second-shaft rotary inner gear ring bearing 6 and the third-shaft rotary inner gear ring bearing 9 can be a ball preloading method or a load gravity method.
Specifically, the inner ring of a shaft rotating inner gear ring bearing 2 is connected with a base 1, the outer ring of the shaft rotating inner gear ring bearing is connected with a waist seat 4, a shaft gear driving device 3 drives the waist seat 4 to rotate relative to the base 1, and the rotating axis of the shaft rotating inner gear ring bearing 2 is perpendicular to the mounting surface of the base 1. The inner ring of the two-shaft rotary inner gear ring bearing 6 is connected with the large arm 7, the outer ring of the two-shaft rotary inner gear ring bearing is connected with the waist seat 4, the two-shaft gear driving device 5 drives the large arm 7 to rotate relative to the waist seat 4, and the rotary axis of the two-shaft rotary inner gear ring bearing 6 is vertical to the rotary axis of the one-shaft rotary inner gear ring bearing 2; the inner ring of the three-shaft rotary inner gear ring bearing 9 is connected with the large arm 7, the outer ring of the three-shaft rotary inner gear ring bearing is connected with the small arm 10, the three-shaft gear driving device 8 drives the small arm 10 to rotate relative to the large arm 7, and the rotary axis of the three-shaft rotary inner gear ring bearing 9 is parallel to the rotary axis of the two-shaft rotary inner gear ring bearing 6.
As shown in fig. 3-4, in the embodiment of the present invention, the first shaft gear driving device 3, the second shaft gear driving device 5 and the third shaft gear driving device 8 have the same structure, and each of them includes a servo motor 31, a multi-stage speed reducer and a driving gear 34 connected in sequence; a driving gear 34 in a shaft gear driving device 3 is meshed with a shaft rotary inner gear ring bearing 2; a driving gear 34 in the two-shaft gear driving device 5 is meshed with the two-shaft rotary inner gear ring bearing 6; the drive gear 34 in the triaxial gear drive 8 meshes with the triaxial slewing ring gear bearing 9.
In this embodiment, the multi-stage speed reducer includes a first-stage speed reducer 32 and a second-stage RV speed reducer 33 that are connected in sequence, and an input shaft of the first-stage speed reducer 32 is connected with an output shaft of the servo motor 31; a secondary RV reducer 33 is mounted on the lumbar support 4, and the output shaft is connected with a drive gear 34.
The embodiment of the utility model provides an in, base 1, waist seat 4, big arm 7 and forearm 10 are hollow tailor-welded body, and ground or other automation equipment are generally connected to base 1, and four five six drive unit 11 are current industrial robot's ripe module, no longer describe here any more.
Specifically, the base 1, the waist seat 4, the large arm 7 and the small arm 10 are all in a tailor-welded structure to form a closed cavity or semi-closed structure, if an inner stiffened plate is arranged, the inner stiffened plate is realized by adopting a plug welding process, and an outer curved surface is formed by bending and splicing a plurality of plates. If the local round angle is large, a spinning process can be adopted, and if the local round angle is small, numerical control machining can be adopted. In addition, the base 1, the waist seat 4, the large arm 7 and the small arm 10 have aesthetic characteristics. The inner parts of the base 1, the waist seat 4, the large arm 7 and the small arm 10 can be wired, a wire is divided from the base 1 to the waist seat 4 through the first-shaft rotary inner gear ring bearing 2, and is connected with the first-shaft gear driving device 3 and the second-shaft gear driving device 5, and the other wire sequentially passes through the second-shaft rotary inner gear ring bearing 6, the large arm 7, the third-shaft rotary inner gear ring bearing 9 to the small arm 10 and is connected with the third-shaft gear driving device 8 and the four-five-six-shaft driving unit 11.
The method for eliminating the back clearance of the rotation of the first shaft gear driving device 3 is that the driving axis of the first shaft gear driving device 3 is eccentric to the axis of the mounting hole of the waist seat 4, and the aim of constantly attaching the tooth surface of the inner gear ring of the four-point contact rotary inner gear ring bearing to the driving gear 34 is achieved by utilizing the moment rigidity of the main bearing of the second-level RV reducer. The method for eliminating the back clearance of the rotation by the biaxial gear drive device 5 and the triaxial gear drive device 8 may be the same as that of the uniaxial gear drive device 3, or may be a load gravity method.
The utility model provides a pair of economical robot joint structure is the principle strategy that adopts driving motor constant power, and the product of motor torque and speed is power, under the certain condition of current motor, also is under the certain condition of driving power, through the reduction ratio that utilizes the reduction ratio that increases a speed reducer, increases the reduction ratio of an ring gear, increases current ripe module joint driven rotational speed ratio. The joint rotation speed is reduced, and simultaneously, the rod lengths of the large arm and the small arm are increased, so that the motion range is increased under the condition that the components and the framework of the existing electric and software system are not changed. The utility model discloses a motion range is increased to 6387mm by 2525mm, and the beat is by 12 seconds, descends to 63 seconds, is fit for low-speed, heavy load and big motion range operating mode. For industrial robot's high-speed operating mode, the utility model discloses the configuration is low-speed and big motion range operating mode. The split welding structure is suitable for single parts or small batches, the investment cost is reduced, the problems of precision and gear transmission back clearance are solved through two methods of gravity and prepressing, and the problems of precision and transmission clearance of the ball and the raceway of the four-point contact slewing bearing are solved through two methods of gravity and prepressing.
The utility model relates to an economical robot joint structure which has two application modes, one mode is that the characteristic of large motion range is utilized to carry out the carrying or stacking of low speed and heavy load; the other is to use a large load of 500kg and a large movement range of 6387mm to add a relatively small welding robot system at the end, such as the welding robot system SR7CL with a body weight of 59kg or the welding robot system SR10C with a body weight of 160kg, to adapt to the welding of large-sized workpieces.
The utility model provides an economical robot joint structure, which has a large motion range; internal wiring and strong environmental adaptability; the tailor-welded structure has the advantages of random modeling and beautiful appearance.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (9)
1. An economical robot joint structure, comprising: the device comprises a base (1), a first-shaft rotary inner gear ring bearing (2), a first-shaft gear driving device (3), a waist seat (4), a second-shaft gear driving device (5), a second-shaft rotary inner gear ring bearing (6), a large arm (7), a third-shaft gear driving device (8), a third-shaft rotary inner gear ring bearing (9), a small arm (10) and four-five-six-shaft driving units (11), wherein the waist seat (4) is connected with the base (1) through the first-shaft rotary inner gear ring bearing (2), and the first-shaft gear driving device (3) is arranged on the waist seat (4) and meshed with the first-shaft rotary inner gear ring bearing (2); one end of the large arm (7) is connected with the waist seat (4) through a two-shaft rotary inner gear ring bearing (6), and the two-shaft gear driving device (5) is arranged on the waist seat (4) and meshed with the two-shaft rotary inner gear ring bearing (6); the other end of the large arm (7) is connected with one end of the small arm (10) through a triaxial rotary inner gear ring bearing (9), and the triaxial gear driving device (8) is arranged on the small arm (10) and meshed with the triaxial rotary inner gear ring bearing (9); the four-five-six shaft driving unit (11) is arranged at the other end of the small arm (10).
2. The economical robot joint structure according to claim 1, characterized in that the one-axis gear driving device (3), the two-axis gear driving device (5) and the three-axis gear driving device (8) are identical in structure and each comprises a servo motor (31), a multi-stage speed reducer and a driving gear (34) which are connected in sequence;
a driving gear (34) in the shaft gear driving device (3) is meshed with the shaft rotary inner gear ring bearing (2);
a driving gear (34) in the two-shaft gear driving device (5) is meshed with the two-shaft rotary inner gear ring bearing (6);
and a driving gear (34) in the triaxial gear driving device (8) is meshed with the triaxial rotary inner gear ring bearing (9).
3. The economical robot joint structure according to claim 2, characterized in that the multi-stage speed reducer comprises a primary speed reducer (32) and a secondary RV speed reducer (33) connected in sequence, and an input shaft of the primary speed reducer (32) is connected with an output shaft of the servo motor (31); and an output shaft of the two-stage RV reducer (33) is connected with the driving gear (34).
4. The economical robotic joint structure according to claim 1, characterized in that the axes of rotation of the two-axis slewing ring gear bearing (6) and the three-axis slewing ring gear bearing (9) are parallel to each other and both are perpendicular to the axis of rotation of the one-axis slewing ring gear bearing (2).
5. The economical robotic joint structure according to claim 1, characterized in that the one-axis slewing ring gear bearing (2), the two-axis slewing ring gear bearing (6) and the three-axis slewing ring gear bearing (9) are four-point contact slewing ring gear bearings.
6. The economical robotic joint structure according to claim 1, characterized in that the inner ring of the shaft slewing ring gear bearing (2) is connected with the base (1) and the outer ring is connected with the waist support (4).
7. The economical robotic joint structure according to claim 1, characterized in that the inner ring of the two-axis slewing ring gear bearing (6) is connected with the large arm (7) and the outer ring is connected with the waist rest (4).
8. The economical robotic joint structure according to claim 1, characterized in that the inner ring of the three-axis revolute ring gear bearing (9) is connected with the large arm (7) and the outer ring is connected with the small arm (10).
9. The economical robotic joint structure of claim 1, characterized in that the base (1), waist seat (4), large arm (7) and small arm (10) are all hollow tailor welded bodies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022390729.8U CN213918290U (en) | 2020-10-23 | 2020-10-23 | Economical robot joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022390729.8U CN213918290U (en) | 2020-10-23 | 2020-10-23 | Economical robot joint structure |
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| Publication Number | Publication Date |
|---|---|
| CN213918290U true CN213918290U (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022390729.8U Active CN213918290U (en) | 2020-10-23 | 2020-10-23 | Economical robot joint structure |
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|---|---|
| CN (1) | CN213918290U (en) |
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2020
- 2020-10-23 CN CN202022390729.8U patent/CN213918290U/en active Active
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