CN214055275U

CN214055275U - Wrist structure of industrial robot

Info

Publication number: CN214055275U
Application number: CN202023184996.6U
Authority: CN
Inventors: 孙冲
Original assignee: Shanghai Turin Smart Robot Co ltd
Current assignee: Shanghai Turin Smart Robot Co ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-08-27
Anticipated expiration: 2030-12-25

Abstract

The utility model discloses an industrial robot wrist structure, include: a cavity; an arm; the hollow speed reducer is respectively connected with the cavity and the arm and is used for enabling the cavity and the arm to form a rotary joint; a first motor fixed within the cavity; the first belt wheel transmission device is in transmission connection with the first motor and the hollow speed reducer; a wrist; a second decelerator for forming a rotation joint of the arm and the wrist; a third motor fixed in the arm; a third belt wheel transmission device which is in transmission connection with the third motor and the second speed reducer; a terminal end; a first decelerator for forming a rotation joint between the wrist and the tip end; a second motor fixed in the arm; a bevel gear for driving the first speed reducer; a second pulley transmission. The problem of inaccurate rotation fit of the existing wrist structure is at least solved.

Description

Wrist structure of industrial robot

Technical Field

The utility model relates to an industrial robot technical field specifically is an industrial robot wrist structure.

Background

An industrial robot is a multi-degree-of-freedom manipulator widely used in the industrial field, has high automation, and will become an indispensable industrial product for 21 st century industrial automation. Industrial robots have been widely used in various industrial fields such as electronics, logistics, chemical industry, but to manufacturing industrial robot manufacturers, the precision of the robot can completely meet the current production requirements, and on the premise of meeting the precision, other aspects of the robot need to be optimized so as to meet the requirements of industrial production. The existing wrist structure has the problems that the rotation fit is inaccurate, the bevel gear mounting distance is not easy to adjust, noise is generated, a body cable is easy to wear during hollow wiring, the belt wheel transmission tension is inconvenient to adjust, and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot wrist structure solves the unsafe problem of current wrist structure rotation fit at least.

The technical scheme for realizing the purpose is as follows:

an industrial robot wrist structure comprising:

a cavity;

an arm;

the hollow speed reducer is respectively connected with the cavity and the arm and is used for enabling the cavity and the arm to form a rotary joint;

a first motor fixed within the cavity;

the first belt wheel transmission device is in transmission connection with the first motor and the hollow speed reducer;

a wrist;

the second speed reducer is respectively connected with the arm and the wrist and is used for enabling the arm and the wrist to form a rotary joint;

a third motor fixed in the arm;

a third belt wheel transmission device which is in transmission connection with the third motor and the second speed reducer;

a terminal end;

the first speed reducer is connected with the wrist and the tail end respectively and is used for enabling the wrist and the tail end to form a rotary joint;

a second motor fixed in the arm;

the bevel gear transmission device is arranged in the arm and the wrist and is used for driving the first speed reducer; and

and the second belt wheel transmission device is in transmission connection with the second motor and the bevel gear transmission device.

Preferably, the hollow speed reducer is provided with a through hole for the cable to pass through; the through hole penetrates through the wiring pipe; the outer ring of the wiring pipe is connected with the inner ring of a plastic bearing; the outer ring of the plastic bearing is connected with the hollow speed reducer through a fixing plate and a belt wheel; walk the spool both ends and tie up with the panel beating support through the ribbon, two the panel beating support is fixed respectively in the wrist with in the cavity.

Preferably, the side surface of the arm is provided with a trachea interface and a communication interface;

and the arm is provided with a housing for sealing the inside of the arm.

Preferably, the industrial robot is a four-axis, five-axis or six-axis robot.

Preferably, the wiring pipe is a Teflon pipe or a spring pipe.

Preferably, the method further comprises the following steps:

the two limiting plates are respectively arranged on the second motor and the third motor; and

and the two limiting screws are arranged on the arm and used for pushing the limiting plates to enable the belt of the second belt wheel transmission device or the third belt wheel transmission device to be tensioned.

The utility model has the advantages that: the utility model discloses a reduction gear, band pulley transmission's design for cooperation between each part is stable and accurate. Simultaneously, through increasing teflon pipe or spring pipe outer lane and plastic bearing support frame, plastic bearing self-lubricating is effectual, even there is big turned angle arm relative cavity, the cable also can not be too big with teflon pipe or the inside relative corner of spring pipe, and the inner wall is the plastics material, has self-lubricating effect, can the significantly reduced wearing and tearing of cable. In addition, the tension of the belt is continuously adjustable by adjusting the limiting screws on the arms, so that a required tension value is easily obtained, and the uncertainty of manually tensioning the belt wheel is avoided.

Drawings

Fig. 1 is a front sectional view of a wrist structure of an industrial robot according to the present invention;

fig. 2 is a side sectional view of the wrist structure of the industrial robot of the present invention;

FIG. 3 is an enlarged view of the point A of FIG. 1 according to the present invention;

FIG. 4 is an enlarged view of the present invention at C in FIG. 2;

fig. 5 is an enlarged view of the point B in fig. 1 according to the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

Referring to fig. 1 to 5, the wrist structure of an industrial robot of the present invention includes: the device comprises a cavity 1, a first motor 2, a hollow speed reducer 3, an arm 4, a first belt wheel transmission device 11, a wrist 9, a second speed reducer 15, a third motor 8, a third belt wheel transmission device 16, a tail end 10, a first speed reducer 14, a second motor 7, a bevel gear transmission device 13 and a second belt wheel transmission device 12.

The hollow speed reducer 3 is respectively connected with the cavity 1 and the arm 4 and is used for enabling the cavity 1 and the arm 4 to form a rotary joint. The first motor 2 is fixed in the cavity 1. The first belt wheel transmission device 11 is in transmission connection with the first motor 2 and the hollow speed reducer 3. The second decelerator 15 is connected to the arm 4 and the wrist 9, respectively, for forming a rotary joint between the arm 4 and the wrist 9. The third motor 8 is fixed in the arm 4. The third belt wheel transmission device 16 is in transmission connection with the third motor 8 and the second speed reducer 15. The first decelerator 14 is connected to the wrist 9 and the tip 10, respectively, for forming the wrist 9 and the tip 10 into a rotary joint. The second motor 7 is fixed in the arm 4. A bevel gear transmission 13 is mounted in the arm 4 and the wrist 9 for driving a first reduction gear 14. The second belt wheel transmission device 12 is in transmission connection with the second motor 7 and the bevel gear transmission device 13. Wrist 9 directly links through second reduction gear 15 with arm 4, has improved transmission efficiency, and can export big moment of torsion, through band pulley drive, has effectively solved the too big problem of remote gear drive occupation space. The bevel gear drive effectively solves the problem of spatial 90 ° commutation, with the tip end 10 having a large torque output through the first reducer 14.

The hollow speed reducer 3 is provided with a through hole 18 for the cable to pass through; the through hole 18 passes through the wiring pipe 19; the outer ring of the wiring pipe 19 is connected with the inner ring of a plastic bearing 23; the outer ring of the plastic bearing 23 is connected with the hollow speed reducer 3 through a fixing plate 22 and a belt wheel 24; two ends of the wiring pipe 19 are tightly tied with the metal plate supports 21 through the binding belts 20, and the two metal plate supports 21 are respectively fixed in the wrist 9 and the cavity 1. The wiring pipe 19 is a Teflon pipe or a spring pipe. The wire running pipe 19 and the plastic bearing 23 form a support, so that abrasion between the cable and the inner wall of the pipe is reduced, and meanwhile, the plastic bearing and the Teflon pipe have a self-lubricating effect. The cables are passed through the through-holes 18 through the routing tubes 19. The rotation angle of the robot hand is larger than 360 degrees, and the robot hand is more compact.

Limiting plates 25 are respectively arranged on the second motor 7 and the third motor 8. Two limit screws 27 are mounted on the arm 4 for pushing the corresponding limit plate 25 to tension the belt 26 of the second pulley transmission 12 or the third pulley transmission 16. The belt tension is continuously adjusted, the adjustment is easy, and the uncertainty of pulling a belt wheel is saved.

The side of the arm 4 is provided with a trachea interface 5 and a communication interface 6. The arm 4 is provided with a cover 17 for closing the inside of the arm 4. First motor 2 is installed inside arm 4, reduces motor and output distance, reduces and connects drive mechanism, simplifies connection structure, and housing 17 adopts engineering plastics, reduces the inertia of wrist for the wrist response is faster. Industrial robots are four-axis, five-axis or six-axis robots.

The bevel gear transmission 13 includes: an input mounted in the arm 4, an output mounted in the wrist 9. The input comprises a first fastening member mounted on the arm 4 and a first bevel gear 32 journalled on said first fastening member and in driving connection with the second pulley transmission 12. A first bearing 29 is sleeved on the periphery of the central shaft of the first bevel gear 32; the first bearing 29 is located within the first fastener. A first inner retainer 30 and a first outer retainer 31 are provided intermediate the first bearing 29. A first gland 28 is provided between the input and the arm 4.

The output end comprises a second fastening member mounted on the wrist 9 and a second bevel gear 33 coupled to the second fastening member and in driving connection with the first reducer 14. The first bevel gear 32 and the second bevel gear 33 are in mesh transmission with each other. A second bearing 34 is sleeved on the periphery of the central shaft of the second bevel gear 33; the second bearing 34 is located within the second fastener. A second inner retainer ring 36 and a second outer retainer ring 35 are provided intermediate the second bearing 34. The adjustment guide sleeve 38 is sleeved outside the second bearing 34. A second gland 37 is provided between the adjustment guide sleeve 38 and the wrist 9. Therefore, the output end is a structure with adjustable installation distance, and is realized by increasing or decreasing the adjusting guide sleeve 38 and the pad of the wrist 9; the bevel gear structure of the output shaft is adjustable in mounting distance, so that the fact that adjusting gaskets are added to the end portions of the hubs of the bevel gears at every time is avoided, and the step of disassembling the bevel gears is reduced. The input end bearing and the output end bearing adopt inner and outer retainer rings with the same height, so that the phenomenon that the axial displacement generated by the axial force generated by improper assembly is larger than the axial clearance of the bearing can be avoided, and the bearing is protected. Meanwhile, the input and the output of the bevel gear are made of different materials, so that the noise can be greatly reduced while the output strength is ensured.

To sum up, the first motor 2 drives the first pulley transmission 11, and the first pulley transmission 11 drives the hollow speed reducer 3, so that the arm 4 rotates relative to the cavity 1. The second motor 7 drives the second pulley transmission 12, the second pulley transmission 12 drives the bevel gear transmission 13, and the bevel gear transmission 13 drives the first reduction gear 14, so that the end 10 rotates relative to the wrist 9. The third motor 8 drives a third pulley transmission 16, and the third pulley transmission 16 drives a second reducer 15, so that the wrist 9 rotates relative to the arm 4.

The above embodiments are provided only for the purpose of illustration, not for the limitation of the present invention, and those skilled in the relevant art can make various changes or modifications without departing from the spirit and scope of the present invention, therefore, all equivalent technical solutions should also belong to the scope of the present invention, and should be defined by the claims.

Claims

1. An industrial robot wrist structure, comprising:

a cavity (1);

an arm (4);

the hollow speed reducer (3) is respectively connected with the cavity (1) and the arm (4) and is used for enabling the cavity (1) and the arm (4) to form a rotary joint;

the first motor (2) is fixed in the cavity (1);

a first belt wheel transmission device (11) which is in transmission connection with the first motor (2) and the hollow speed reducer (3);

a wrist (9);

a second reducer (15) respectively connected with the arm (4) and the wrist (9) and used for enabling the arm (4) and the wrist (9) to form a rotary joint;

a third motor (8) fixed in the arm (4);

a third belt wheel transmission device (16) which is in transmission connection with the third motor (8) and the second speed reducer (15);

a tip (10);

a first reducer (14) connected to the wrist (9) and the tip (10), respectively, for forming a rotary joint between the wrist (9) and the tip (10);

a second motor (7) fixed in the arm (4);

a bevel gear transmission (13) mounted in the arm (4) and wrist (9) for driving the first reducer (14); and

and the second belt wheel transmission device (12) is in transmission connection with the second motor (7) and the bevel gear transmission device (13).

2. The wrist structure of an industrial robot according to claim 1, characterized in that the hollow reducer (3) is provided with a through hole (18) for passing a cable therethrough; the through hole (18) penetrates through the wiring pipe (19); the outer ring of the wiring pipe (19) is connected with the inner ring of a plastic bearing (23); the outer ring of the plastic bearing (23) is connected with the hollow speed reducer (3) through a fixing plate (22) and a belt wheel (24); walk spool (19) both ends and tighten up through ribbon (20) and panel beating support (21), two panel beating support (21) are fixed respectively in wrist (9) with in the cavity (1).

3. The wrist structure of an industrial robot according to claim 1, characterized in that the arm (4) is provided with a gas pipe interface (5) and a communication interface (6) on the side;

and a housing (17) used for sealing the inside of the arm (4) is arranged on the arm (4).

4. The industrial robot wrist structure of claim 1, wherein the industrial robot is a four-, five-, or six-axis robot.

5. Industrial robot wrist structure according to claim 2, characterized in that the wiring tube (19) is a teflon tube or a spring tube.

6. The industrial robot wrist structure of claim 1, further comprising:

two limit plates (25) respectively arranged on the second motor (7) and the third motor (8); and

two limit screws (27) mounted on the arm (4) for pushing the corresponding limit plate (25) to tension the belt (26) of the second pulley transmission (12) or the third pulley transmission (16).