CN214025710U

CN214025710U - Five six transmission structure of robot

Info

Publication number: CN214025710U
Application number: CN202022700236.XU
Authority: CN
Inventors: 卿茂荣
Original assignee: Dongguan Lbd Robot Co ltd
Current assignee: Dongguan Lbd Robot Co ltd
Priority date: 2020-09-08
Filing date: 2020-11-19
Publication date: 2021-08-24
Anticipated expiration: 2030-11-19

Abstract

The utility model relates to the technical field of robots, in particular to a five-six shaft transmission structure of a robot, which comprises a first power device, a second power device, a five-shaft arm, a six-shaft main body, a first transmission shaft, a second transmission shaft and a rotating piece; the first power device and the second power device are both arranged on a five-axis arm; the first power device is used for driving the first transmission shaft to rotate, the second power device is used for driving the six-shaft main body to rotate, the second transmission shaft is in transmission connection with the rotating piece, and the second transmission shaft can rotate along the shaft axis of the second transmission shaft and/or revolve around the shaft A5 along with the rotation of the six-shaft main body. The utility model discloses novel structure, design benefit can reduce the volume of six main parts by a wide margin for the wrist joint that six main parts and rotating member are constituteed can stretch into operation in narrow and small space, uses in a flexible way, convenient, compact structure.

Description

Five six transmission structure of robot

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to indicate five six transmission structures of robot.

Background

Under the current big background of the international society, the industrial production cost is continuously improved along with the continuous reduction of the population dividend. To solve this problem, productivity is further liberated, industrial production efficiency is again improved, and operation cost is reduced, and conventional manufacturing enterprises are beginning to attach importance to the concept of "smart manufacturing" and put it into production links in combination with reality, while robots are increasingly widely used in various industrial production links as their primary powers.

In a five-six-axis transmission structure of the existing six-axis robot, a fifth axis is usually a rotating arm, and a sixth axis is a wrist joint; the transmission principle is as follows: the first power device built in the swivel arm drives the main body of the wrist joint to rotate around the A5 axis, and the second power device built in the main body of the wrist joint drives the rotating piece of the wrist joint to rotate. For the existing five-six shaft transmission structure, the volume of the second power device arranged in the sixth shaft is increased, so that the sixth shaft cannot enter a narrow space to operate.

Thus, the prior art is subject to improvement and advancement.

Disclosure of Invention

The utility model discloses the problem of carrying out the operation in the unable narrow and small space that gets into of sixth axle among the prior art provides a five six transmission structures of robot, novel structure, design benefit can reduce the volume of six main parts by a wide margin for the wrist joint that six main parts and rotating member are constituteed can stretch into operation in the narrow and small space, uses in a flexible way, convenient, compact structure.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a five-six shaft transmission structure of a robot, which comprises a first power device, a second power device, five shafts of arms, a six-shaft main body, a first transmission shaft, a second transmission shaft and a rotating piece; the first power device and the second power device are both arranged on a five-axis arm; the first power device is used for driving the first transmission shaft to rotate, the first transmission shaft is in transmission connection with the second transmission shaft, the second power device is used for driving the six-shaft main body to rotate, the second transmission shaft is rotatably arranged on the six-shaft main body and is in transmission connection with the rotating piece, and the second transmission shaft can rotate along the axial lead of the second transmission shaft and/or revolve around the A5 shaft along with the rotation of the six-shaft main body.

The end parts of the first transmission shaft and the second transmission shaft, which are close to each other, are respectively provided with a first bevel gear and a second bevel gear which are in meshed transmission connection with each other.

Wherein the five-axis arm is provided with a speed reducer; the input shaft of the speed reducer is sleeved with a first driven belt wheel; a first driving belt wheel is sleeved on an output shaft of the second power device and is in transmission connection with the first driven belt wheel through a first transmission belt; the six-shaft main body is in driving connection with an output shaft of the speed reducer.

The six-shaft main body is provided with a mounting hole, and the second transmission shaft is rotatably mounted in the mounting hole; through holes which are coaxial with the A5 shaft are arranged in the middle of the first driven belt wheel and the speed reducer in a penetrating manner; the through hole is communicated with the mounting hole; the first transmission shaft is rotatably arranged in the through hole, one end of the first transmission shaft extends into the mounting hole and is provided with the first bevel gear, and the other end of the first transmission shaft extends out of the through hole and is sleeved with a second driven belt wheel; and the output shaft of the first power device is sleeved with a second driving belt wheel, and the second driving belt wheel is in transmission connection with the second driven belt wheel through a second belt.

Wherein, the mounting hole is perpendicular to the A5 axle, and the axial lead of second transmission shaft is perpendicular to the A5 axle.

Wherein the rotating member is rotatably mounted on the six-axis body; a gear assembly is sleeved on the periphery of the rotating piece; the end part of the second transmission shaft, which is far away from the first transmission shaft, is provided with transmission teeth meshed with the gear assembly.

The gear assembly comprises a first fluted disc, a second fluted disc and a spring; the second fluted disc is connected with the rotary piece key; the first fluted disc and the second fluted disc are coaxially arranged, the first fluted disc is rotatably sleeved on the rotating piece, and the first fluted disc is positioned on the upper side of the second fluted disc; a first hooking piece is arranged on the end face of the first fluted disc; a second hooking piece is arranged on the end face of the second fluted disc; the first hooking piece and the second hooking piece are staggered along the circumferential direction of the first fluted disc; and two ends of the spring are respectively hooked on the first hooking piece and the second hooking piece.

Preferably, the first and second chainrings have the same modulus and the gears have the same thickness.

An accommodating groove which penetrates through the periphery of the first fluted disc up and down is formed in the periphery of the first fluted disc; the spring is horizontally arranged in the accommodating groove; the second hooking piece is arranged on the upper end face of the second fluted disc.

The utility model has the advantages that:

the utility model has novel structure and ingenious design, the first power device is integrated into the five-axis arm, the volume of the five-axis arm is not changed greatly, but the volume of the six-axis main body can be reduced greatly, so that the wrist joint consisting of the six-axis main body and the rotating part can be stretched into a narrow space for operation; in addition, because the first power device is integrated into the five-axis arm, the weight of the six-axis main body is correspondingly reduced, the first power device can drive the six-axis main body to do work more laborsavingly, and the six-axis power device is flexible and convenient to use and compact in structure.

Drawings

Fig. 1 is a schematic structural diagram of a five-six axis transmission structure of a robot of the present invention.

Fig. 2 is another view structure diagram of the robot five-six axis transmission structure of the present invention.

Fig. 3 is an exploded view of a part of the present invention.

Fig. 4 is a schematic structural view of the spring, the first hooking member and the second hooking member of the present invention.

The reference numerals in fig. 1 to 4 include:

1. a first power unit; 2. a second power unit; 3. five arms; 4. a six-axis body; 5. A first drive shaft; 6. a second drive shaft; 7. a first bevel gear; 8. a second bevel gear; 9. A rotating member; 10. a speed reducer; 11. a first driven pulley; 12. a first driving pulley; 14. Mounting holes; 15. a through hole; 16. a second driven pulley; 17. a second driving pulley; 19. a gear assembly; 20. a transmission gear; 21. a first fluted disc; 22. a second fluted disc; 23. a spring; 24. A first hooking member; 25. a second hooking member; 26. a spring receiving groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It should be further noted that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 4, a five-six shaft transmission structure of a robot includes a first power device 1, a second power device 2, a five-shaft arm 3, a six-shaft main body 4, a first transmission shaft 5, a second transmission shaft 6 and a rotating member 9; the first power device 1 and the second power device 2 are both arranged on a five-axis arm 3; the first power device 1 is used for driving the first transmission shaft 5 to rotate, the first transmission shaft 5 is in transmission connection with the second transmission shaft 6, the second power device 2 is used for driving the six-shaft main body 4 to rotate, the second transmission shaft 6 is rotatably arranged on the six-shaft main body 4, the second transmission shaft 6 is in transmission connection with the rotating piece 9, and the second transmission shaft 6 can rotate along the axis line thereof and/or revolve around the axis A5 along with the rotation of the six-shaft main body 4. Specifically, in the present embodiment, the first power device 1 and the second power device 2 are both fixedly mounted on the rear end of the five-axis arm 3; the six-shaft main body 4 and the first transmission shaft 5 are both rotatably mounted on the front end of the five-shaft arm 3 around an A5 axis; when the embodiment works, the second power device 2 drives the six-shaft main body 4 to rotate around the A5 shaft; further, since the first transmission shaft 5 is in transmission connection with the second transmission shaft 6, and the second transmission shaft 6 is in transmission connection with the rotating member 9, when the first power device 1 drives the first transmission shaft 5 to rotate, the first transmission shaft 5 can drive the second transmission shaft 6 to rotate in a transmission manner, and finally the second transmission shaft 6 drives the rotating member 9 to rotate no matter whether the six-shaft main body 4 rotates or stops; the effect that this embodiment reached: the five-axis arm 3 is a rotating arm, so that the volume of the five-axis arm 3 is large, and through the structural matching, the first power device 1 is integrated into the five-axis arm 3, so that the volume of the five-axis arm 3 is not changed greatly, but the volume of the six-axis main body 4 can be greatly reduced, and a wrist joint formed by the six-axis main body 4 and the rotating part 9 can be stretched into a narrow space for operation; in addition, because first power device 1 is integrated to five arms 3 in, the corresponding reduction of weight of six main parts 4, first power device 1 can drive six main parts 4 do work more laborsavingly, uses in a flexible way, convenient, the utility model discloses novel structure, design benefit.

In the five-six shaft transmission structure of the robot in this embodiment, the end portions, close to each other, of the first transmission shaft 5 and the second transmission shaft 6 are respectively provided with a first bevel gear 7 and a second bevel gear 8 which are in meshing transmission connection with each other. Specifically, during the rotation of the six-shaft body 4, since the second transmission shaft 6 revolves around the a5 shaft following the six-shaft body 4 and the first bevel gear 7 is arranged on the a5 shaft through the first transmission shaft 5, the second bevel gear 8 on the second transmission shaft 6 can be meshed with the first bevel gear 7 at any time, and therefore, when the first power device 1 drives the first transmission shaft 5 to rotate and the first transmission shaft 5 drives the second transmission shaft 6 to rotate through gear transmission and finally the second transmission shaft 6 drives the rotating member 9 to rotate no matter whether the six-shaft body 4 rotates or stops.

In the five-six axis transmission structure of the robot in the embodiment, the five-axis arm 3 is provided with a speed reducer 10; the input shaft of the speed reducer 10 is sleeved with a first driven belt wheel 11; the second power device 2 is a motor, a first driving belt wheel 12 is sleeved on an output shaft of the motor, and the first driving belt wheel 12 is in transmission connection with the first driven belt wheel 11 through a first transmission belt; the six-shaft main body 4 is in driving connection with an output shaft of the speed reducer 10. Specifically, the present embodiment is in operation: the second power device 2 drives the input shaft of the speed reducer 10 to rotate in a belt transmission manner; then, the six-shaft body 4 is rotated about the a5 axis by the output shaft of the reduction gear 10.

In the five-six shaft transmission structure of the robot in the embodiment, the six-shaft main body 4 is provided with the mounting hole 14, and the second transmission shaft 6 is rotatably mounted in the mounting hole 14; a through hole 15 which is coaxial with the shaft A5 is arranged in the middle of the first driven belt wheel 11 and the speed reducer 10 in a penetrating way; the through hole 15 is communicated with the mounting hole 14; the first transmission shaft 5 is rotatably installed in the through hole 15, one end of the first transmission shaft extends into the installation hole 14 and is provided with the first bevel gear 7, and the other end of the first transmission shaft extends out of the through hole 15 and is sleeved with a second driven belt pulley 16; the first power device 1 is a servo motor, a second driving belt wheel 17 is sleeved on an output shaft of the servo motor, and the second driving belt wheel 17 is in transmission connection with the second driven belt wheel 16 through a second belt. Wherein, the mounting hole 14 is perpendicular to the A5 shaft, and the shaft axis of the second transmission shaft 6 is perpendicular to the A5 shaft. Specifically, the present embodiment is in operation: the servo motor is connected with an external power supply and drives the first transmission shaft 5 to rotate in a belt transmission mode; then, the first transmission shaft 5 drives the second transmission shaft 6 to rotate in a gear transmission manner; finally, the second transmission shaft 6 drives the rotation member 9 to rotate. In this embodiment, what adopt is that the middle part on the market is equipped with keeps away the speed reducer 10 of vacancy, and then can with first transmission shaft 5 hide in the middle part of speed reducer 10 has further reduced the utility model discloses a volume, the structure is compacter.

In the five-six shaft transmission structure of the robot in the embodiment, the rotating member 9 is rotatably mounted on the six-shaft main body 4; a gear assembly 19 is sleeved on the peripheral side of the rotating part 9; the end of the second transmission shaft 6 remote from the first transmission shaft 5 is provided with a transmission tooth 20 which is engaged with the gear assembly 19. Specifically, when the second transmission shaft 6 rotates, the rotating member 9 can be driven to rotate through the gear transmission structure formed by the transmission teeth 20 and the gear assembly 19.

In the embodiment of the five-six shaft transmission structure of the robot, the gear assembly 19 includes a first toothed disc 21, a second toothed disc 22 and a spring 23; the second gear disk 22 is keyed to the rotary member 9; the first fluted disc 21 and the second fluted disc 22 are coaxially arranged, the first fluted disc 21 is rotatably sleeved on the rotating member 9, and the first fluted disc 21 is positioned on the upper side of the second fluted disc 22; a first hooking part 24 is arranged on the end face of the first fluted disc 21; a second hooking part 25 is arranged on the end face of the second gear disc 22; the first hooking part 24 and the second hooking part 25 are staggered along the circumferential direction of the first fluted disc 21; both ends of the spring 23 are hooked on the first hooking member 24 and the second hooking member 25, respectively. Preferably, the first toothed disc 21 and said second toothed disc 22 have the same module and the same thickness of the gears. Specifically, the spring 23 pulls the first gear 21 to rotate around the axis of the rotating member 9 relative to the second gear 22, and the corresponding teeth of the first gear 21 and the second gear 22 cooperate to clamp the transmission teeth 20, so as to form a double-gear transmission backlash eliminating structure.

In the five-six shaft transmission structure of the robot described in this embodiment, an accommodating groove penetrating up and down is provided on the outer peripheral side of the first fluted disc 21; the spring 23 is horizontally arranged in the accommodating groove; the second hooking member 25 is disposed on an upper end surface of the second toothed disc 22.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention is disclosed in the preferred embodiment, it is not limited to the above description, and any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, but all the technical solutions of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a five six transmission structure of robot which characterized in that: the five-axis robot comprises a first power device (1), a second power device (2), a five-axis arm (3), a six-axis main body (4), a first transmission shaft (5), a second transmission shaft (6) and a rotating piece (9); the first power device (1) and the second power device (2) are both arranged on a five-axis arm (3); the first power device (1) is used for driving the first transmission shaft (5) to rotate, the first transmission shaft (5) is in transmission connection with the second transmission shaft (6), the second power device (2) is used for driving the six-shaft main body (4) to rotate, the second transmission shaft (6) is rotatably arranged on the six-shaft main body (4), the second transmission shaft (6) is in transmission connection with the rotating piece (9), and the second transmission shaft (6) can rotate along the axial lead of the second transmission shaft and/or revolve around the A5 shaft along with the rotation of the six-shaft main body (4).

2. The five-six axis transmission structure of the robot as claimed in claim 1, wherein: the end parts of the first transmission shaft (5) and the second transmission shaft (6) which are close to each other are respectively provided with a first bevel gear (7) and a second bevel gear (8) which are in meshing transmission connection with each other.

3. The five-six axis transmission structure of the robot as claimed in claim 2, wherein: the five-axis arm (3) is provided with a speed reducer (10); a first driven belt wheel (11) is sleeved on an input shaft of the speed reducer (10); a first driving belt wheel (12) is sleeved on an output shaft of the second power device (2), and the first driving belt wheel (12) is in transmission connection with the first driven belt wheel (11) through a first transmission belt; the six-shaft main body (4) is in driving connection with an output shaft of the speed reducer (10).

4. The five-six axis transmission structure of the robot as claimed in claim 3, wherein: the six-shaft main body (4) is provided with a mounting hole (14), and the second transmission shaft (6) is rotatably mounted in the mounting hole (14); a through hole (15) which is coaxial with the shaft A5 is arranged in the middle of the first driven belt wheel (11) and the speed reducer (10) in a penetrating way; the through hole (15) is communicated with the mounting hole (14); the first transmission shaft (5) is rotatably arranged in the through hole (15), one end of the first transmission shaft extends into the mounting hole (14) and is provided with the first bevel gear (7), and the other end of the first transmission shaft extends out of the through hole (15) and is sleeved with a second driven belt wheel (16); the output shaft of the first power device (1) is sleeved with a second driving belt wheel (17), and the second driving belt wheel (17) is in transmission connection with the second driven belt wheel (16) through a second belt.

5. The five-six axis transmission structure of the robot as claimed in claim 4, wherein: the mounting hole (14) is perpendicular to an A5 shaft, and the axis line of the second transmission shaft (6) is perpendicular to an A5 shaft.

6. A robot five-six axis transmission structure according to any one of claims 1-5, wherein: the rotating piece (9) is rotatably arranged on the six-shaft main body (4); a gear assembly (19) is sleeved on the peripheral side of the rotating piece (9); the end part of the second transmission shaft (6) far away from the first transmission shaft (5) is provided with transmission teeth (20) meshed with the gear assembly (19).

7. The five-six axis transmission structure of the robot as claimed in claim 6, wherein: the gear assembly (19) comprises a first fluted disc (21), a second fluted disc (22) and a spring (23); the second fluted disc (22) is in key connection with the rotating piece (9); the first fluted disc (21) and the second fluted disc (22) are coaxially arranged, the first fluted disc (21) is rotatably sleeved on the rotating piece (9), and the first fluted disc (21) is positioned on the upper side of the second fluted disc (22); a first hooking part (24) is arranged on the end face of the first fluted disc (21); a second hooking piece (25) is arranged on the end face of the second fluted disc (22); the first hooking part (24) and the second hooking part (25) are staggered along the circumferential direction of the first fluted disc (21); and two ends of the spring (23) are respectively hooked on the first hooking part (24) and the second hooking part (25).

8. The five-six axis transmission structure of the robot as claimed in claim 7, wherein: the first fluted disc (21) and the second fluted disc (22) have the same module and the same thickness of the gears.

9. The five-six axis transmission structure of the robot as claimed in claim 7, wherein: an accommodating groove which penetrates through the periphery of the first fluted disc (21) up and down is formed in the periphery of the first fluted disc; the spring (23) is horizontally arranged in the accommodating groove; and the second hooking piece (25) is arranged on the upper end face of the second fluted disc (22).