CN215202055U - Heavy-load industrial robot wrist joint transmission mechanism - Google Patents
Heavy-load industrial robot wrist joint transmission mechanism Download PDFInfo
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- CN215202055U CN215202055U CN202121236488.XU CN202121236488U CN215202055U CN 215202055 U CN215202055 U CN 215202055U CN 202121236488 U CN202121236488 U CN 202121236488U CN 215202055 U CN215202055 U CN 215202055U
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Abstract
The utility model discloses a heavy load industrial robot wrist joint drive mechanism, including arm foundry goods, wrist foundry goods, five RV speed reducers, external gear one, six RV speed reducers and external gear two, five bevel gear one have been installed to the output shaft of five RV speed reducers, five bevel gear one left side meshing has the gear train. This heavy-duty industrial robot wrist joint drive mechanism for the five-axis of robot and the sixth transmission of robot can use the general RV speed reducer of localization, need not use the RV speed reducer of customization, reduced robot speed reducer purchasing cost, solve the five-axis of heavy-duty robot and the problem that the sixth speed reducer relies on foreign products and speed reducer appearance interface size needs the customization, solve the sixth drive chain system simultaneously before installing the robot complete machine, the assembly quality detects the big problem of the degree of difficulty.
Description
Technical Field
The utility model relates to a heavy load industrial robot technical field specifically is a heavy load industrial robot wrist joint drive mechanism.
Background
Due to the industrial upgrading of developed countries and developing countries in the world, the industrial automation degree is further improved, and the industrial robots are popularized and applied in a large quantity.
At present, a six-degree-of-freedom industrial robot with 165 kg-level load capacity and 210 kg-level load capacity at home and abroad has wide application, and is mainly applied to the field of automobile body-in-white spot welding and the field of universal goods stacking and carrying. However, the main suppliers of the two types of robots are foreign brands, and the Chinese robot brands are at a disadvantage in the market competition and the market share of the two types of robot products.
Compared with foreign products with the same specification, the two products of the Chinese domestic robot brand have no advantage in the aspect of cost performance; one reason is that a robot speed reducer, which accounts for one third of the cost of the robot, relies on import. Particularly, the fifth shaft RV speed reducer and the sixth shaft RV speed reducer of the two types of robots are required to be customized, which is monopolized by foreign companies, the price of the customized speed reducer is too high, the shelf life is long, only one configuration is provided, the cost of the robot based on the customized speed reducer is difficult to control, and a robot design scheme which can be manufactured by adopting a universal speed reducer is urgently needed to reduce the cost.
In addition, the original transmission chain of the sixth shaft of the heavy-duty industrial robot is complex, and a mode of bevel gear transmission, straight gear transmission, bevel gear transmission, straight gear transmission and RV reducer transmission is generally used; because the transmission chain length has higher requirement on the assembly link, the problem exists at present that the quality of the assembly is difficult to judge after the sixth shaft of the robot is assembled, and joint debugging test needs to be carried out on the whole robot for judgment; the problems of high assembly difficulty, long period, high rework rate, high cost and the like exist.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model provides a heavy load industrial robot wrist joint drive mechanism possesses the assembly degree of difficulty and hangs down, the cycle is short, the rework rate is low and advantage with low costs, has solved the assembly degree of difficulty big, the cycle length, rework rate height and problem with high costs.
In order to achieve the above object, the utility model provides a following technical scheme: a heavy-load industrial robot wrist joint transmission mechanism comprises an arm casting, a wrist casting, a five-axis RV speed reducer, a first external gear, a six-axis RV speed reducer and a second external gear, wherein a first five-axis bevel gear is mounted on an output shaft of the five-axis RV speed reducer, and a gear set is meshed on the left side of the first five-axis bevel gear.
The gear set comprises a gear shaft III, a five-axis bevel gear II and a six-axis input bevel gear I are fixed on the outer portion of the gear shaft III from left to right, and the five-axis bevel gear II is meshed with the five-axis bevel gear I.
The first six-axis input bevel gear is meshed with a second six-axis input bevel gear, the top of the second six-axis input bevel gear is provided with a first gear shaft, and the top end of the first gear shaft is provided with a first external gear.
The output shaft of the six-shaft RV speed reducer is provided with a six-shaft bevel gear, the top of the six-shaft bevel gear is meshed with a six-shaft output bevel gear, the top of the six-shaft output bevel gear is provided with a second gear shaft, and the top end of the second gear shaft is provided with a second external gear meshed with the first external gear.
Furthermore, the output end of the five-axis RV reducer is an output shaft of the five-axis RV reducer, a first bearing is arranged outside the output shaft of the five-axis RV reducer, and a hexagonal socket is formed in the end face of one side of the first gear shaft, which is provided with an external gear, and is used for using an electric torque wrench in a subsequent wrist testing link.
Furthermore, the output shaft of the six-shaft RV reducer is the output shaft of the six-shaft RV reducer, a second bearing is arranged outside the output shaft of the six-shaft RV reducer, and a hexagonal socket is formed in the end face of one side of the second gear shaft mounting outer gear, so that the electric torque wrench is used in the subsequent wrist testing link.
Further, five RV speed reducers are installed at the bottom of the wrist casting through bolts, and six RV speed reducers are movably connected to the right side of the wrist casting.
Further, gear shaft one and gear shaft all are equipped with two little bearings outward, all bearings all are equipped with the bearing frame outward, and the bearing frame passes through long screw and installs on the tip flange of wrist foundry goods, realizes through O type circle that grease with the wrist foundry goods is sealed, and the big bearing outer lane is installed on the bearing frame outside gear shaft one, and the terminal surface is installed the skeleton oil blanket under the big bearing for isolated external impurity such as dust, big retaining ring passes through the mounting screw on the wrist foundry goods, is used for the axial to compress tightly big bearing.
Further, a hole check ring is arranged in the bearing seat and used for limiting axial movement of the inner ring and the outer ring of the bearing, and shaft check rings are arranged on the output shaft of the five-shaft RV reducer and the output shaft of the six-shaft RV reducer and used for limiting axial movement of the inner ring and the outer ring of the bearing.
Furthermore, the part of the heavy-duty industrial robot wrist joint transmission mechanism needing to be coated with lubricating grease is sealed through an O-shaped sealing ring, a five-axis end cover is arranged at the bottom of the five-axis RV speed reducer, an oil nozzle is mounted on the five-axis end cover and used for filling grease into the five-axis speed reducer and observing the meshing rotation condition of the bevel gears and filling the grease, and a groove is formed in the end cover, and the O-shaped sealing ring is mounted in the groove and used for sealing between the end cover and an arm casting.
Compared with the prior art, the technical scheme of the application has the following beneficial effects:
1. this heavy-duty industrial robot wrist joint drive mechanism for the five-axis of robot and the sixth transmission of robot can use the general RV speed reducer of localization, need not use the RV speed reducer of customization, reduced robot speed reducer purchasing cost, solve the five-axis of heavy-duty robot and the problem that the sixth speed reducer relies on foreign products and speed reducer appearance interface size needs the customization, solve the sixth drive chain system simultaneously before installing the robot complete machine, the assembly quality detects the big problem of the degree of difficulty.
2. According to the heavy-duty industrial robot wrist joint transmission mechanism, the assembly quality of the sixth-axis integral transmission chain of the robot can be detected at an assembly station; the wrist assembly link can use the electric torque wrench, and the assembly and transmission conditions of the sixth-axis integral transmission chain are rapidly detected and judged according to the data feedback acquired by the electric torque wrench current ring and the torque ring in real time by rotating the external gear and other parts at a low speed, so that the failure rate and rework rate of the assembled wrist joint are reduced, the assembly quality is controllable, and the yield is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a sectional view of the structure of the present invention;
fig. 3 is a top view of the present invention.
In the figure: the device comprises an arm casting 1, a wrist casting 2, a five-axis RV speed reducer 3, a five-axis RV speed reducer 4, a five-axis bevel gear 5, a bearing I6, a six-axis input bevel gear 7, a five-axis bevel gear 8, a six-axis input bevel gear 9, a gear shaft I10, an external gear I11, a six-axis RV speed reducer 12, a six-axis RV speed reducer output shaft 13, a six-axis bevel gear 14, a bearing II 15, a six-axis output bevel gear 16, a gear shaft II 17 and an external gear II 18.
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 in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, the wrist joint transmission mechanism of the heavy-duty industrial robot in the embodiment includes an arm casting 1, a wrist casting 2, a five-axis RV reducer 3, a first external gear 11, a six-axis RV reducer 12, and a second external gear 18, wherein a first five-axis bevel gear 5 is mounted on an output shaft of the five-axis RV reducer 3, and a gear set is engaged on the left side of the first five-axis bevel gear 5.
The gear set comprises a gear shaft III, a five-axis bevel gear II 8 and a six-axis input bevel gear I7 are fixed on the outer portion of the gear shaft III from left to right, and the five-axis bevel gear II 8 is meshed with the five-axis bevel gear I5.
The six-shaft input bevel gear I7 is meshed with a six-shaft input bevel gear II 9, the top of the six-shaft input bevel gear II 9 is provided with a gear shaft I10, and the top end of the gear shaft I10 is provided with an external gear I11.
One end of a first gear shaft 10 is connected with a first external gear 11 through a screw, the other end of the first gear shaft is connected with a second six-axis input bevel gear 9 through a screw, the first external gear 11 is meshed with a second external gear 18, bearings are mounted on inner rings at two ends of the first gear shaft 10, outer rings are mounted in bearing seats, fine thread threads are arranged on one side, where the first external gear 11 is mounted, of the first gear shaft 10, a locking nut is mounted on the first gear shaft 10, and the locking nut is tightened to compress a locking washer to fix the axial position of the second six-axis input bevel gear 9;
the output shaft of the six-shaft RV reducer 12 is provided with a six-shaft bevel gear 14, the top of the six-shaft bevel gear 14 is meshed with a six-shaft output bevel gear 16, the top of the six-shaft output bevel gear 16 is provided with a second gear shaft 17, and the top end of the second gear shaft 17 is provided with a second external gear 18 meshed with the first external gear 11.
One end of the second gear shaft 17 is connected with the six-shaft output bevel gear 16 through a screw, the other end of the second gear shaft is connected with the second outer gear 18 through a screw, two inner rings of the bearings are installed at two ends of the second gear shaft 17, an outer ring of the bearings is installed in a bearing seat, fine threads are arranged on one side, where the second outer gear 18 is installed, of the second gear shaft 17, a locking nut is installed on the second gear shaft 17, and the locking nut is tightened to compress a locking washer to fix the axial position of the six-shaft output bevel gear 16.
In the embodiment, the output end of the five-axis RV reducer 3 is a five-axis RV reducer output shaft 4, a bearing I6 is arranged outside the five-axis RV reducer output shaft 4, a gear shaft I10 is provided with an external gear I11, and the side end face of the gear shaft I is provided with a hexagon socket for using an electric torque wrench in a subsequent wrist testing link.
In this embodiment, the output shaft of the six-shaft RV reducer 12 is the six-shaft RV reducer output shaft 13, the six-shaft RV reducer output shaft 13 is externally provided with the second bearing 15, and the end face of one side of the second gear shaft 17, on which the second external gear 18 is mounted, is provided with a hexagon socket for the use of an electric torque wrench in the subsequent wrist testing link.
In this embodiment, the five-axis RV reducer 3 is mounted at the bottom of the wrist casting 2 through a bolt, and the six-axis RV reducer 12 is mounted on the right side of the wrist casting 2 through a bolt.
In this embodiment, gear shaft one 10 and gear shaft two 17 all are equipped with two little bearings outward, all bearings all are equipped with the bearing frame outward, the bearing frame passes through long screw and installs on the tip flange of wrist foundry goods 2, realize through O type circle with the grease seal of wrist foundry goods 2, the big bearing outer lane is installed on the bearing frame of gear shaft one 10 outsides, the skeleton oil blanket is installed to the terminal surface under the big bearing for impurity such as isolated external dust, big retaining ring passes through the mounting screw on wrist foundry goods 2, be used for the axial to compress tightly big bearing.
In this embodiment, the bearing seat is provided with a hole retainer ring for limiting the axial movement of the inner ring and the outer ring of the bearing, and the output shafts 4 and 13 of the five-axis RV reducer and the six-axis RV reducer are provided with shaft retainer rings for limiting the axial movement of the inner ring and the outer ring of the bearing.
In the embodiment, the part of a heavy-duty industrial robot wrist joint transmission mechanism needing to be coated with lubricating grease is sealed through an O-shaped sealing ring, a five-axis end cover is arranged at the bottom of a five-axis RV speed reducer 3, a nozzle is mounted on the five-axis end cover and used for filling grease into the five-axis speed reducer and observing the meshing rotation condition of bevel gears and filling the grease, and a groove is formed in the end cover and is used for sealing between the end cover and an arm casting.
The working principle of the above embodiment is as follows:
the five-axis bevel gear I5 rotates to drive a five-axis bevel gear II 8 and a six-axis input bevel gear I7 which are meshed with the five-axis bevel gear I to rotate, the five-axis RV reducer output shaft 4 rotates together with the inner ring of the bearing I6, the six-axis input bevel gear I7 drives a six-axis input bevel gear II 9 to rotate, the six-axis input bevel gear II 9 drives a gear shaft I10 and an outer gear I11 to rotate, the gear shaft I10 is meshed with an outer gear II 18, the outer gear II 18 rotates to drive a six-axis output bevel gear 16 to rotate so as to drive a six-axis bevel gear 14 to rotate, and the six-axis bevel gear 14 rotates to drive a six-axis RV reducer output shaft 13 and a six-axis bevel gear 14 to rotate, so that the end part of the six-axis RV reducer 12 performs rotary motion.
Has the advantages that:
1. the transmission of the fifth shaft of the robot and the sixth shaft of the robot can use a domestic general RV reducer, a customized RV reducer is not needed, the purchasing cost of the robot reducer is reduced, the problem that the fifth shaft and the sixth shaft of the heavy-duty robot depend on foreign products and the size of the outline interface of the reducer needs to be customized is solved, and the problem that the assembly quality detection difficulty is large before the complete machine of the robot is assembled is solved simultaneously by a sixth shaft transmission chain system.
2. The assembly quality of the sixth-axis integral transmission chain of the robot can be detected at an assembly station; the wrist assembly link can use the electric torque wrench, and the assembly and transmission conditions of the sixth-axis integral transmission chain are rapidly detected and judged according to the data feedback acquired by the electric torque wrench current ring and the torque ring in real time by rotating the components such as the first external gear 11 at a low speed, so that the failure rate and the rework rate of the assembled wrist joint are reduced, the assembly quality is controllable, and the yield is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a heavy load industrial robot wrist joint drive mechanism, includes arm foundry goods (1), wrist foundry goods (2), five RV speed reducer (3), external gear (11), six RV speed reducer (12) and external gear two (18), its characterized in that: an output shaft of the five-axis RV speed reducer (3) is provided with a five-axis bevel gear I (5), and the left side of the five-axis bevel gear I (5) is meshed with a gear set;
the gear set comprises a gear shaft III, a five-axis bevel gear II (8) and a six-axis input bevel gear I (7) are fixed on the outer portion of the gear shaft III from left to right, and the five-axis bevel gear II (8) is meshed with the five-axis bevel gear I (5);
the six-axis input bevel gear I (7) is meshed with a six-axis input bevel gear II (9), the top of the six-axis input bevel gear II (9) is provided with a gear shaft I (10), and the top end of the gear shaft I (10) is provided with an external gear I (11);
six bevel gear (14) have been installed to the output shaft of six RV speed reducer (12), six bevel gear (14) top meshing has six output bevel gear (16), gear shaft two (17) have been installed at six output bevel gear (16) top, gear shaft two (17) top is installed and is installed the external gear two (18) with external gear one (11) meshing.
2. The heavy-duty industrial robot wrist joint transmission mechanism according to claim 1, characterized in that: the output end of the five-axis RV speed reducer (3) is a five-axis RV speed reducer output shaft (4), a first bearing (6) is installed outside the five-axis RV speed reducer output shaft (4), and a first gear shaft (10) is provided with a first outer gear (11) and a side end face is provided with a hexagon socket for using an electric torque wrench in a subsequent wrist testing link.
3. The heavy-duty industrial robot wrist joint transmission mechanism according to claim 1, characterized in that: the output shaft of six RV speed reducers (12) is six RV speed reducer output shafts (13), six RV speed reducer output shafts (13) are equipped with bearing two (15) outward, and open on the side end face of gear shaft two (17) installation external gear two (18) has interior hexagonal hole for follow-up wrist test link uses electronic torque wrench.
4. The heavy-duty industrial robot wrist joint transmission mechanism according to claim 1, characterized in that: five RV speed reducers (3) are installed at the bottom of the wrist casting (2) through bolts, and six RV speed reducers (12) are movably connected to the right side of the wrist casting (2).
5. The heavy-duty industrial robot wrist joint transmission mechanism according to claim 1, characterized in that: all be equipped with two little bearings outside gear shaft one (10) and gear shaft two (17), all bearings all are equipped with the bearing frame outward, the bearing frame passes through the long screw and installs on the tip flange of wrist foundry goods (2), realize through O type circle with the grease of wrist foundry goods (2) sealed, big bearing outer lane is installed on the outer bearing frame of gear shaft one (10), the terminal surface mounting has the skeleton oil blanket under the big bearing for impurity such as isolated external dust, big retaining ring passes through the mounting screw on wrist foundry goods (2), be used for the axial to compress tightly big bearing.
6. The heavy-duty industrial robot wrist joint transmission mechanism according to claim 5, characterized in that: the bearing seat is internally provided with a hole check ring for limiting the axial movement of the inner ring and the outer ring of the bearing, and the five-axis RV reducer output shaft (4) and the six-axis RV reducer output shaft (13) are provided with shaft check rings for limiting the axial movement of the inner ring and the outer ring of the bearing.
7. The heavy-duty industrial robot wrist joint transmission mechanism according to claim 1, characterized in that: the position of a wrist joint transmission mechanism of the heavy-duty industrial robot needing to be coated with lubricating grease is sealed through an O-shaped sealing ring, a five-axis end cover is arranged at the bottom of a five-axis RV speed reducer (3), a nozzle is mounted on the five-axis end cover and used for filling grease into the five-axis speed reducer and observing the meshing rotation condition of bevel gears and filling the grease, and a groove is formed in the end cover and is used for sealing between the end cover and an arm casting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121236488.XU CN215202055U (en) | 2021-06-03 | 2021-06-03 | Heavy-load industrial robot wrist joint transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121236488.XU CN215202055U (en) | 2021-06-03 | 2021-06-03 | Heavy-load industrial robot wrist joint transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215202055U true CN215202055U (en) | 2021-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121236488.XU Active CN215202055U (en) | 2021-06-03 | 2021-06-03 | Heavy-load industrial robot wrist joint transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215202055U (en) |
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2021
- 2021-06-03 CN CN202121236488.XU patent/CN215202055U/en active Active
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Effective date of registration: 20220106 Address after: 710000 room F902, 9 / F, block 4-C, Xixian financial port, Fengdong new city, Xixian New District, Xi'an City, Shaanxi Province Patentee after: Shaanxi Liqin zhinuo Robot Technology Co.,Ltd. Address before: 712000 Xianyang province Shaanxi City Weicheng District Wenhui Road No. 12 Patentee before: SHAANXI POLYTECHNIC INSTITUTE |