CN216229478U

CN216229478U - Wrist structure of industrial six-axis robot

Info

Publication number: CN216229478U
Application number: CN202122830075.0U
Authority: CN
Inventors: 黄勇; 潘俊杰; 夏旭东
Original assignee: Suzhou Juxin Robot Co ltd
Current assignee: Suzhou Juxin Robot Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-04-08
Anticipated expiration: 2031-11-18

Abstract

The utility model discloses a wrist structure of an industrial six-axis robot in the technical field of industrial robot instruments, which comprises an installation arm, wherein the connecting end of the installation arm is fixedly connected with an electric control rotating seat, the connecting end of the electric control rotating seat is rotatably connected with an output shaft, the connecting end of the electric control rotating seat is fixedly connected with a connecting table through the output shaft, the left side and the right side of the bottom of the connecting table are respectively and integrally formed with a connecting side wrist, the centers of the two connecting side wrists are respectively connected with an installation hole in a penetrating way, the periphery of the outer side wall of the connecting table is fixedly connected with a reinforcing outer ring, the outer side walls of the two connecting side wrists are respectively and fixedly connected with two first reinforcing ribs, the wrist structure of the industrial six-axis robot is reasonable in structural design, the integral weight of the device is effectively reduced compared with the traditional mode, and the pressure value born by the device in the operation process is reduced, the energy consumption of the device is reduced, and the working efficiency and the service life of the device are improved.

Description

Wrist structure of industrial six-axis robot

Technical Field

The utility model relates to the technical field of industrial robot instruments, in particular to a wrist structure of an industrial six-axis robot.

Background

Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have certain automaticity, and can realize various industrial processing and manufacturing functions by means of own power energy and control capability, wherein six-axis robots can freely move in a three-dimensional space, and can accurately and quickly carry out a large number of repetitive works such as carrying, welding, spraying and the like.

Six axis robot on the existing market, increase its material thickness usually in order to improve the stability of its wrist structure, in order to reach the antitorque nature that increases the wrist, but this kind of mode leads to the self weight of wrist structure higher for the operation of equipment needs to consume more power, thereby reduced its actual work efficiency, and the wrist structure is at the upset in-process, and the pressure that its installation end bore is too high, be unfavorable for the long-term use of equipment, we have proposed the wrist structure of an industrial six axis robot for this reason.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a wrist structure of an industrial six-axis robot, which aims to solve the problems that the wrist structure is usually increased in material thickness to improve the stability of the wrist structure so as to increase the torsion resistance of the wrist, but the wrist structure is higher in self weight due to the mode, so that more power is consumed for the operation of equipment, and the wrist structure is not beneficial to the long-term use of the equipment due to overhigh pressure borne by an installation end in the overturning process.

In order to achieve the purpose, the utility model provides the following technical scheme: the wrist structure of the industrial six-axis robot comprises an installation arm, wherein an electric control rotary seat is fixedly connected to the connecting end of the installation arm, an output shaft is rotatably connected to the connecting end of the electric control rotary seat, a connecting table is fixedly connected to the connecting end of the electric control rotary seat through the output shaft, connecting side wrists are integrally formed on the left side and the right side of the bottom of the connecting table, a mounting hole is formed in the center of each of the two connecting side wrists in a penetrating mode, a reinforcing outer ring is fixedly connected to the periphery of the outer side wall of the connecting table, two first reinforcing ribs are fixedly connected to the outer side wall of each of the two connecting side wrists, are respectively positioned on the front side and the rear side of the mounting hole, one end, far away from the connecting side wrists, of each of the two first reinforcing ribs is fixedly connected to the bottom of the reinforcing outer ring, and two second reinforcing ribs are fixedly connected to the inner side walls of each of the two connecting side wrists, and two the second strengthening rib is located respectively both sides around the mounting hole, and two the second strengthening rib is kept away from the one end fixed connection of connecting the wrist is in connect the inner chamber top of platform, connect the inner chamber top of platform from the three vertical fossil fragments of left right equidistance fixedly connected with, connect the inner chamber top of platform from preceding two horizontal fossil fragments of successively equidistance fixedly connected with, just horizontal fossil fragments fixed connection is two connect between the wrist.

Preferably, a limiting ring groove is formed in the center of the inner side wall of the mounting hole, and the diameter of the limiting ring groove is 1.2-1.5 times that of the mounting hole.

Preferably, the bottom of each of the two connecting side wrists is arc-shaped.

Preferably, the centers of the two first reinforcing ribs and the centers of the two second reinforcing ribs are horizontally aligned.

Preferably, two transverse keels are located between two second reinforcing ribs, and the longitudinal keel is embedded in the transverse keel.

Preferably, the thickness ranges of the reinforcing outer ring, the first reinforcing rib, the second reinforcing rib, the transverse keel and the longitudinal keel are all 50-150 mm.

Preferably, the connecting table, the connecting side wrist, the reinforcing outer ring, the first reinforcing rib, the second reinforcing rib, the transverse keel and the longitudinal keel are all made of aluminum steel alloy materials.

Compared with the prior art, the utility model has the beneficial effects that:

the wrist structure of the industrial six-axis robot is characterized in that a first reinforcing rib and a second reinforcing rib are respectively arranged on the outer side wall and the inner side wall of the connecting wrist at two sides, the compression resistance of the connecting wrist is improved by using the first reinforcing rib and the second reinforcing rib in a matching way, the reinforcing outer ring is arranged on the outer side wall of the connecting table, the reinforcing outer ring is connected with the first reinforcing rib and the top of the second reinforcing rib, so that an integrated structure is formed among the first reinforcing rib, the second reinforcing rib, the third reinforcing rib and the fourth reinforcing rib, the purpose of enhancing the anti-torsion performance between the connecting table and the outer side wall of the connecting wrist is achieved, the transverse crossed transverse keel and the longitudinal keel are finally arranged inside the connecting table, the connecting strength between the connecting table and the connecting wrist is enhanced by using the two reinforcing ribs in a matching way, the whole bearing capacity and the anti-deformation effect of the device are improved, and the whole weight of the device is effectively reduced compared with the traditional mode, greatly reduced this device at the pressure value that the operation in-process bore, and then reduced the energy consumption of this device self, improved the work efficiency and the life of this device.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic cross-sectional front view of the connecting table of the present invention.

In the figure: 1. mounting an arm; 2. an electrically controlled rotating base; 21. an output shaft; 3. a connecting table; 4. reinforcing the outer ring; 5. connecting the lateral wrists; 6. mounting holes; 7. a limiting ring groove; 8. a first reinforcing rib; 9. a second reinforcing rib; 10. a transverse keel; 11. a longitudinal keel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides a wrist structure of an industrial six-axis robot, which effectively reduces the whole weight of the device, reduces the pressure value born by the device in the operation process and reduces the energy consumption of the device in comparison with the traditional mode, and please refer to fig. 1-4, which comprises an installation arm 1;

in the utility model, an electric control rotary seat 2 is fixedly connected with a connecting end of an installation arm 1, the connecting end of the electric control rotary seat 2 is rotatably connected with an output shaft 21, the connecting end of the electric control rotary seat 2 is fixedly connected with a connecting table 3 through the output shaft 21, connecting side wrists 5 are integrally formed on the left side and the right side of the bottom of the connecting table 3, a mounting hole 6 is penetratingly connected with the centers of the two connecting side wrists 5, a reinforced outer ring 4 is fixedly connected with the periphery of the outer side wall of the connecting table 3, two first reinforcing ribs 8 are fixedly connected with the outer side walls of the two connecting side wrists 5, the two first reinforcing ribs 8 are respectively positioned on the front side and the rear side of the mounting hole 6, one ends of the two first reinforcing ribs 8 far away from the connecting side wrists 5 are fixedly connected with the bottom of the reinforced outer ring 4, two second reinforcing ribs 9 are fixedly connected with the inner side walls of the two connecting side wrists 5, and the two second reinforcing ribs 9 are respectively positioned on the front side and the rear side of the mounting hole 6, one end of each of two second reinforcing ribs 9, which is far away from the connecting side arm 5, is fixedly connected to the top of an inner cavity of the connecting table 3, the top of the inner cavity of the connecting table 3 is fixedly connected with three longitudinal keels 11 at equal intervals from left to right, the top of the inner cavity of the connecting table 3 is fixedly connected with two transverse keels 10 at equal intervals from front, the transverse keels 10 are fixedly connected between the two connecting side arms 5, the mounting arm 1 is used for connecting the electrically-controlled rotating base 2, the electrically-controlled rotating base 2 is used for connecting the output shaft 21 and providing power for rotation of the output shaft 21, the output shaft 21 is used for connecting the electrically-controlled rotating base 2 and the connecting table 3, the connecting table 3 is used for connecting the connecting side arms 5, the reinforcing outer ring 4 is used for improving the torsion resistance and the pressure bearing effect of the connecting table 3, the connecting side arms 5 are used for connecting external mechanical arms, and the mounting holes 6 are used for providing mounting space for connecting external mechanical arms, the first reinforcing rib 8 and the second reinforcing rib 9 are used for improving the overall strength and rigidity of the connecting side arm 5, and the transverse keel 10 and the longitudinal keel 11 are used for enhancing the deformation-resistant effect between the connecting platform 3 and the connecting side arm 5.

In the utility model, in order to improve the connection stability of the external mechanical arm in the mounting hole 6, the limiting ring groove 7 is formed in the center of the inner side wall of the mounting hole 6, and the diameter of the limiting ring groove 7 is 1.2-1.5 times that of the mounting hole 6.

In the utility model, in order to avoid the two connecting side wrists 5 from damaging the surface of the external mechanical arm, the bottom shapes of the two connecting side wrists 5 are both arc-shaped.

In the utility model, in order to improve the compressive strength between the two connecting side wrists 5 and the compressive effect on the mounting holes 6, the centers of the two first reinforcing ribs 8 and the centers of the two second reinforcing ribs 9 are horizontally aligned.

In the utility model, in order to improve the connection firmness between the transverse keels 10 and the longitudinal keels 11, the two transverse keels 10 are positioned between the two second reinforcing ribs 9, and the longitudinal keels 11 are embedded in the transverse keels 10.

In the utility model, in order to improve the torsion resistance of the reinforced outer ring 4, the first reinforcing ribs 8, the second reinforcing ribs 9, the transverse keels 10 and the longitudinal keels 11, the thickness ranges of the reinforced outer ring 4, the first reinforcing ribs 8, the second reinforcing ribs 9, the transverse keels 10 and the longitudinal keels 11 are all 50-150 mm.

In the utility model, in order to improve the material strength, rigidity and corrosion resistance of the connecting platform 3, the connecting side arm 5, the reinforcing outer ring 4, the first reinforcing rib 8, the second reinforcing rib 9, the transverse keel 10 and the longitudinal keel 11 and reduce the weight of the connecting platform 3, the connecting side arm 5, the reinforcing outer ring 4, the first reinforcing rib 8, the second reinforcing rib 9, the transverse keel 10 and the longitudinal keel 11, all the connecting platform, the connecting side arm 5, the reinforcing outer ring 4, the first reinforcing rib 8, the second reinforcing rib 9, the transverse keel 10 and the longitudinal keel 11 are made of aluminum steel alloy materials.

When concrete use, the installer is connected the link of automatically controlled roating seat 2 and the link of installation arm 1, then insert the output shaft 21 on the automatically controlled roating seat 2 to the link of being connected platform 3, imbed outside arm to both sides again and connect between wrist 5, and insert the link of outside arm in mounting hole 6, accomplish the concatenation process to this equipment promptly, drive when installation arm 1 and automatically controlled roating seat 2 and be connected platform 3 and carry out the operation in-process, first strengthening rib 8 and second strengthening rib 9 on the wrist 5 are connected to both sides, can effectively improve the resistance to deformation effect of connecting wrist 5 to outside arm, rethread horizontal fossil fragments 10, vertical fossil fragments 11 and the cooperation of strengthening the outer lane 4 are used, in order to guarantee to connect the platform 3 and be connected the service strength between the wrist 5, improve the holistic availability factor of this device.

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.

While the utility model has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the various features of the embodiments disclosed herein may be used in any combination, provided that there is no structural conflict, and the combinations are not exhaustively described in this specification merely for the sake of brevity and conservation of resources. Therefore, it is intended that the utility model not be limited to the particular embodiments disclosed, but that the utility model will include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides a wrist structure of industrial six axis robot which characterized in that: the connecting device comprises an installation arm (1), wherein a connecting end of the installation arm (1) is fixedly connected with an electric control rotary seat (2), the connecting end of the electric control rotary seat (2) is rotatably connected with an output shaft (21), the connecting end of the electric control rotary seat (2) is fixedly connected with a connecting table (3) through the output shaft (21), the left side and the right side of the bottom of the connecting table (3) are respectively and integrally formed with a connecting side wrist (5), the center of the connecting side wrist (5) is respectively connected with an installation hole (6) in a penetrating way, a reinforcing outer ring (4) is fixedly connected with one circle of the outer side wall of the connecting table (3), the outer side walls of the connecting side wrists (5) are respectively and fixedly connected with two first reinforcing ribs (8), the two first reinforcing ribs (8) are respectively positioned at the front side and the rear side of the installation hole (6), and the two first reinforcing ribs (8) are far away from one end of the connecting side wrist (5) and are fixedly connected with the bottom of the reinforcing outer ring (4), two connect two second strengthening ribs (9) of the equal fixedly connected with of inside wall of wrist (5), and two second strengthening rib (9) are located respectively both sides around mounting hole (6), and two second strengthening rib (9) are kept away from the one end fixed connection of connecting wrist (5) is in connect the inner chamber top of platform (3), connect the inner chamber top of platform (3) from the three vertical fossil fragments (11) of left right equidistance fixedly connected with, connect the inner chamber top of platform (3) from preceding equidistance two horizontal fossil fragments (10) of consecutive fixedly connected with, just horizontal fossil fragments (10) fixed connection is two connect between wrist (5).

2. The wrist structure of an industrial six-axis robot according to claim 1, characterized in that: limiting ring grooves (7) are formed in the center of the inner side wall of the mounting hole (6), and the diameter of each limiting ring groove (7) is 1.2-1.5 times that of the mounting hole (6).

3. The wrist structure of an industrial six-axis robot according to claim 1, characterized in that: the bottom of each of the two connecting side wrists (5) is arc-shaped.

4. The wrist structure of an industrial six-axis robot according to claim 1, characterized in that: the centers of the two first reinforcing ribs (8) are horizontally aligned with the centers of the two second reinforcing ribs (9).

5. The wrist structure of an industrial six-axis robot according to claim 1, characterized in that: the two transverse keels (10) are located between the two second reinforcing ribs (9), and the longitudinal keels (11) are embedded in the transverse keels (10).

6. The wrist structure of an industrial six-axis robot according to claim 1, characterized in that: the thickness ranges of the reinforcing outer ring (4), the first reinforcing ribs (8), the second reinforcing ribs (9), the transverse keels (10) and the longitudinal keels (11) are all 50-150 mm.

7. The wrist structure of an industrial six-axis robot according to claim 1, characterized in that: connect platform (3) connect wrist (5) strengthen outer lane (4) first strengthening rib (8) second strengthening rib (9) horizontal fossil fragments (10) with vertical fossil fragments (11) all adopt aluminium steel alloy material to make.