CN220945427U - Robot joint structure with adjustable axial clearance and robot - Google Patents
Robot joint structure with adjustable axial clearance and robot Download PDFInfo
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- CN220945427U CN220945427U CN202322692773.8U CN202322692773U CN220945427U CN 220945427 U CN220945427 U CN 220945427U CN 202322692773 U CN202322692773 U CN 202322692773U CN 220945427 U CN220945427 U CN 220945427U
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Abstract
The utility model provides a robot joint structure with adjustable axial play and a robot. The transmission shafts in the plurality of transmission assemblies are sequentially sleeved and connected through the connecting bearings with adjustable axial gaps, and the outer diameters of the transmission gears in the plurality of transmission assemblies are sequentially increased. The retainer is arranged at the input ends of the transmission shafts and comprises an adjusting part, an annular frame body and a plurality of blocking pieces, and each blocking piece is positioned between two motor gears of adjacent transmission assemblies; the external diameter of the adjusting part is smaller than that of the annular frame body, the transmission gears of the transmission components are sequentially cascaded and assembled in the retainer through the connecting bearings, and the adjusting part is provided with an adjusting hole coaxial with the annular frame body and provided with a threaded section. The adjusting bearing in the play adjusting component is assembled in the adjusting hole and abuts against the transmission gear close to the adjusting hole, and the adjusting piece is connected with the threaded section of the adjusting hole in a threaded mode and abuts against the adjusting bearing.
Description
Technical Field
The utility model relates to the field of industrial robots, in particular to a robot joint structure with adjustable axial clearance and a robot.
Background
With the continuous development of robot control technology, industrial robots are increasingly used to carry large-sized and heavy articles to finer operations such as welding workpieces and assembling parts. The fine operation not only requires the robot controller to have accurate control precision, but also has strict requirements on the operation of mechanical structures at the joints of the robot. The motion at the joints in industrial machines is mainly transmitted in a gear meshing manner, and the play between gears affects not only the accuracy of transmission, but also the life of gears, bearings and transmission shafts.
The gear bearing at the joint of the traditional industrial robot mainly bears radial force, but in the six-axis robot, the integrated transmission of four, five and six axes leads the gear bearing to bear radial force and also bear axial force (such as the influence of transmission factors such as helical gear meshing transmission and the like). For the fixed clearance four-five-six shaft joint, the gear engagement is inevitably interfered or the clearance is excessively large due to workpiece machining errors and assembly errors in actual production and assembly, so that the transmission precision is reduced, and the bearing is extremely easy to lock, so that the gear is worn, the transmission shaft is broken and the like. At present, a gasket or a disc spring is adopted to adjust axial play, but for a multi-axis integrated six-axis robot, the adjustment range of the adjustment modes is very limited, so that multi-axis play adjustment is difficult to realize, and the adjustment modes also have the problem that the assembly coaxiality of the four-axis, five-axis and six-axis transmission gears is influenced, so that the adjustment modes are difficult to apply.
Disclosure of utility model
The utility model provides a robot joint structure with adjustable axial clearance and a robot, which aim to overcome the defects of the prior art.
In order to achieve the above object, the present utility model provides a robot joint structure with adjustable axial play, which comprises at least two sets of transmission components, a cage and a play adjusting component. Each transmission assembly comprises a motor gear, a transmission gear and a hollow transmission shaft, and the motor gears are meshed with the transmission gears to drive the corresponding transmission shafts to rotate; the transmission shafts in the plurality of transmission assemblies are sequentially sleeved and connected through the connecting bearings with adjustable axial gaps, and the outer diameters of the transmission gears in the plurality of transmission assemblies are sequentially increased. The retainer is arranged at the input ends of the transmission shafts and comprises an adjusting part, an annular frame body and a plurality of blocking pieces arranged between the adjusting part and the annular frame body, and each blocking piece is positioned between two motor gears of adjacent transmission assemblies; the external diameter of the adjusting part is smaller than that of the annular frame body, the transmission gears of the transmission components are sequentially assembled between the adjusting part and the annular frame body in a cascading way through corresponding transmission shafts and connecting bearings, and an adjusting hole coaxial with the annular frame body is formed in the adjusting part and a threaded section is arranged in the adjusting hole. The play adjusting assembly comprises an adjusting bearing and an adjusting piece, the axial play of the adjusting bearing is adjustable, the adjusting bearing is assembled in the adjusting hole and abuts against the transmission gear close to the adjusting hole, and the adjusting piece is connected with the threaded section of the adjusting hole in a threaded mode and abuts against the adjusting bearing.
According to an embodiment of the utility model, the circumferential wall of the threaded section in the adjusting hole is provided with a plurality of locking holes uniformly distributed along the circumferential direction, and the play adjusting assembly further comprises a plurality of fasteners which penetrate through the locking holes in the circumferential wall of the adjusting hole to lock the adjusting piece in the adjusting hole.
According to an embodiment of the present utility model, a plurality of blocking members are uniformly disposed between the adjusting portion and the annular frame in the circumferential direction, each blocking member including a radial section connected to the adjusting portion, an axial section connected to the annular frame, and a transition section connected between the radial section and the axial section; on the axial projection surface of the transmission shaft, the radial section is positioned on the inner side of the axial section.
According to an embodiment of the utility model, the included angle formed between the radial segment and the transition segment towards the inside of the retainer is 125 degrees or more and 155 degrees or less.
According to an embodiment of the utility model, the adjusting bearing and the connecting bearing are each any one of a tapered roller bearing, an angular contact ball bearing or a thrust bearing.
According to one embodiment of the utility model, the adjusting member is provided with a relief hole extending axially through the adjusting member.
According to an embodiment of the present utility model, each transmission assembly further includes a motor for driving the motor gear to rotate, and the motor gear and the transmission gear are meshed in a helical gear manner.
On the other hand, the utility model also provides a robot, which comprises the robot joint structure with adjustable axial play.
According to an embodiment of the utility model, the robot is a six-axis robot, and the robot joint structure with adjustable axial play comprises three groups of transmission components, namely a four-axis transmission component, a five-axis transmission component and a six-axis transmission component of the six-axis robot;
the transmission shaft in the six-shaft transmission assembly and the transmission shaft in the five-shaft transmission assembly are sequentially sleeved on the transmission shaft in the four-shaft transmission assembly; the transmission gears in the six-shaft transmission assembly, the transmission gears in the five-shaft transmission assembly and the transmission gears in the four-shaft transmission assembly are sequentially assembled in the retainer, and the outer diameters of the transmission gears are sequentially increased; an adjusting bearing in the lash adjustment assembly abuts a drive gear in the six-axis drive assembly to adjust axial lash between the three sets of drive assemblies.
According to one embodiment of the utility model, the tail end of the transmission shaft in the five-shaft transmission assembly extends out of the transmission shaft in the four-shaft transmission assembly, and the tail end of the transmission shaft in the six-shaft transmission assembly extends out of the transmission shaft in the five-shaft transmission assembly;
The robot further comprises a four-shaft speed reducer connected to the tail end of the transmission shaft in the four-shaft transmission assembly, a five-shaft speed reducer connected to the tail end of the transmission shaft in the five-shaft transmission assembly and a six-shaft speed reducer connected to the tail end of the transmission shaft in the six-shaft transmission assembly.
In summary, in the robot joint structure with adjustable axial play and the robot provided by the utility model, the transmission shafts in the transmission assemblies are of hollow structures, and the transmission shafts of the transmission assemblies are sequentially sleeved and connected with each other through the connecting bearing with adjustable axial play to realize cascade connection of the transmission gears, so that conditions are provided for synchronous adjustment of the axial play of the transmission assemblies. The retainer provides space and position for assembling the axial play adjusting assembly while ensuring coaxiality of a plurality of cascaded transmission gears, and greatly reduces the space occupied by the play adjusting assembly in the robot joint structure. In addition, for the play adjusting component, when the adjusting bearing realizes relative rotation between the adjusting part and the innermost transmission gear, the adjusting piece sequentially adjusts the axial play clearance of the connecting bearing between the adjacent transmission components based on the adjusting bearing, so that the transmission precision of the joint of the multi-axis integrated robot is improved, noise abnormal sound is eliminated, and the problems of abrasion of the transmission gear, breakage of the transmission shaft and the like caused by locking of the bearing are effectively avoided.
The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings.
Drawings
Fig. 1 is an exploded view of a robot joint structure with adjustable axial play according to an embodiment of the present utility model.
Fig. 2 shows a partial schematic view of fig. 1 in the assembled state.
Fig. 3 is a schematic partial cross-sectional view of fig. 2.
Fig. 4 is an enlarged schematic view of fig. 3 at a.
Fig. 5 is a schematic cross-sectional view of the three transmission assemblies of fig. 2.
Fig. 6 is an enlarged schematic view of fig. 5 at B.
Fig. 7 is a schematic view showing the structure of the cage in fig. 1.
Fig. 8 shows a schematic diagram of the structure of the connecting bearing and the adjusting bearing in fig. 1.
Fig. 9 is a schematic cross-sectional view of fig. 8.
Fig. 10 is a schematic structural diagram of a robot according to an embodiment of the present utility model.
Detailed Description
As shown in fig. 1 to 9, the present embodiment provides an axial play adjustable robot joint structure 400 including at least two sets of transmission components, a cage 1, a play adjusting component 2, and a housing 7. Each transmission assembly comprises a motor gear, a transmission gear and a hollow transmission shaft, and the motor gear is meshed with the transmission gear to drive the corresponding transmission shaft to rotate. The transmission shafts in the plurality of transmission assemblies are sequentially sleeved and connected through the connecting bearing 3 with adjustable axial gaps, and the outer diameters of the transmission gears in the plurality of transmission assemblies are sequentially increased. The retainer 1 is arranged at the input ends of a plurality of transmission shafts, the retainer 1 comprises an adjusting part 11 and an annular frame body 12, and a plurality of blocking pieces 13 are arranged between the adjusting part 11 and the annular frame body 12, and each blocking piece 13 is positioned between two motor gears of adjacent transmission assemblies; the external diameter of the adjusting part 11 is smaller than that of the annular frame body 12, the transmission gears of the transmission components are sequentially assembled between the adjusting part 11 and the annular frame body 12 in a cascading way through corresponding transmission shafts and connecting bearings 3, an adjusting hole 111 coaxial with the annular frame body 12 is formed in the adjusting part 11, and a thread section 112 is arranged in the adjusting hole. The lash adjustment assembly 2 comprises an adjustment bearing 21, the axial lash of which is adjustable, which fits within the adjustment hole 111 and abuts against the transmission gear close to the adjustment hole 111, and an adjustment member 22, which is screwed to the threaded section 112 of the adjustment hole 111 and abuts against the adjustment bearing 21.
The present embodiment is described taking the joint structure 400 of a six-axis robot with adjustable axial play of four, five and six axis integration as an example. Specifically, the robot joint structure 400 with adjustable axial play includes three transmission assemblies, namely a four-axis transmission assembly 4, a five-axis transmission assembly 5 and a six-axis transmission assembly 6. The four-axis transmission assembly 4 comprises a four-axis motor 41, a four-axis motor gear 42, a four-axis transmission gear 43 and a fourth transmission shaft 44; the five-axis transmission assembly 5 comprises a five-axis motor 51, a five-axis motor gear 52, a five-axis transmission gear 53 and a fifth transmission shaft 54; the six-drive assembly 6 includes a six-axis motor 61, a six-axis motor gear 62, a six-axis drive gear 63, and a sixth drive shaft 64. However, the present utility model is not limited in any way thereto. The robot joint structure with adjustable axial play is also applicable to robot joint structures with two-axis integration or more than four-axis integration.
In the present embodiment, the six-axis transmission gear 63, the five-axis transmission gear 53 and the four-axis transmission gear 43 are sequentially cascade-assembled in the holder 1 and the outer diameters of the three are sequentially increased. The adjustment bearing 21 is disposed in the adjustment hole 111 and abuts against the six-axis transmission gear 63, and the six-axis transmission gear 63 is fixed to an end portion of the sixth transmission shaft 64 and is connected to an inner peripheral wall of the fifth transmission shaft 54 through the connection bearing 3. The upper end of the outer peripheral wall of the fifth transmission shaft 54 is fixed to the five-axis transmission gear 53, the outer peripheral wall of the fifth transmission shaft 54 is connected to the inner peripheral wall of the fourth transmission shaft 44 through another connecting bearing 3, and the upper end of the outer peripheral wall of the fourth transmission shaft 44 is connected to the four-axis transmission gear 43. The adjusting bearing 21 and the two connecting bearings 3 are bearings with adjustable axial play; specifically, as shown in fig. 8 and 9, both are tapered roller bearings including a bearing inner ring 31, a bearing outer ring 32, and tapered rollers 33 disposed therebetween. However, the present utility model is not limited in any way thereto. In other embodiments, the adjustment bearing and the connecting bearing may also be any one of an angular contact ball bearing or a thrust bearing.
In the robot joint structure with adjustable axial play provided in the embodiment, the fourth transmission shaft 44, the fifth transmission shaft 54 and the sixth transmission shaft 64 are cascaded through two connecting bearings 3, and the six-axis transmission gear 63 is abutted to the adjusting member 22 through the adjusting bearing 21. In the actual operation process, the swordlike clearance assembly 2 can be adjusted based on the working condition of the robot, the axial meshing precision between the motor gear and the corresponding transmission gear in the three transmission assemblies is synchronously realized through the adjusting piece 22, the adjusting bearing 21 and the two connecting bearings 3, the internal gear of each transmission assembly is ensured to be smooth and the transmission is high in precision, the axial movement of each shaft is effectively avoided, and the problems of bearing locking, gear abrasion, transmission shaft breakage and the like caused by too small clearance are solved.
Further, in order to prevent the adjusting member 22 from axially moving due to excessive stress during the running process of the joint to affect the play clearance in each transmission assembly, in this embodiment, the circumferential wall of the threaded section 112 in the adjusting hole is provided with three locking holes 113 uniformly distributed along the circumferential direction, the play adjusting assembly 2 further includes three fastening members 23, and the three fastening members 23 penetrate through the locking holes 113 on the circumferential wall of the adjusting hole to lock the adjusting member 22 in the adjusting hole 111. However, the utility model is not limited in any way with respect to the number of locking holes and locking members. In other embodiments, the number of fasteners may be one, two, or more than four. In this embodiment, the adjusting member 22 has a relief hole 221 penetrating the adjusting member 22 in the axial direction; when assembled, a drive shaft connector (e.g., a set screw) extends into relief bore 221 to connect the end of sixth drive shaft 64 to adjustment bearing 21.
In the present embodiment, the six-axis transmission gear 63, the five-axis transmission gear 53 and the four-axis transmission gear 43 are connected in series in the cage 1 through the two connecting bearings 3 and the adjusting bearing 21 and do not interfere with each other, the cage 1 provides an accommodating space for the play adjusting assembly 2 to reduce the volume at the joint, and the plurality of blocking members 13 on the cage 1 also circumferentially limit the three cascaded transmission gears while realizing the strength support of the cage 1 so as to ensure the coaxiality of the assembly of the three. In the present embodiment, the retainer 1 includes three stoppers 13 and the three stoppers 13 are spaced apart from three motor gears (four-axis motor gear 42, five-axis motor gear 52 and six-axis motor gear 62) to avoid interference. However, the present utility model is not limited in any way thereto. Specifically, as shown in fig. 7, each blocking member 13 includes a radial segment 131 connected to the adjustment portion 11, an axial segment 133 connected to the annular frame body 12, and a transition segment 132 connected between the radial segment 131 and the axial segment 133; on the axial projection surface of the drive shaft, the radial segment 131 is located inside the axial segment 133. In order to improve the strength of the cage 1, it is preferable to provide an angle formed between the radial segment 131 and the transition segment 132 toward the inside of the cage 1 of 125 degrees or more and 155 degrees or less.
In the robot joint structure with adjustable axial play provided by the embodiment, the motor gear and the transmission gear of each transmission assembly are bevel gears, and the motor gear and the transmission gear are meshed and transmitted in a bevel gear mode; compared with spur gear engagement, the helical gear engagement is high in transmission precision and larger in bearing capacity. Specifically, the four-axis motor gear 42 and the four-axis transmission gear 43 are engaged in a helical gear manner; the five-axis motor gear 52 and the five-axis transmission gear 53 are engaged in a helical gear manner; the six-axis motor gear 62 and the six-axis transmission gear 63 are engaged in a helical gear manner. However, the present utility model is not limited in any way thereto. In other embodiments, spur gear engagement may be employed between the motor gear and the drive gear.
Correspondingly, the embodiment provides a robot which is a six-axis robot. As shown in fig. 10, it includes a first drive shaft assembly 100, a second drive shaft assembly 200, a third drive shaft assembly 300, and the present embodiment provides a four-five-six axis integrated axial play adjustable robotic joint structure 400. The robot joint structure 400 with adjustable axial play further comprises a shell 7 coated outside the four-axis transmission assembly 4, the five-axis transmission assembly 5, the six-axis transmission assembly 6, the retainer 1 and the play adjusting assembly 2.
Specifically, the end of the drive shaft in the five-axis drive assembly 5 (i.e., the fifth drive shaft 54) extends out of the drive shaft in the four-axis drive assembly 4 (i.e., the fourth drive shaft 44), and the end of the drive shaft in the six-axis drive assembly 6 (i.e., the sixth drive shaft 64) extends out of the drive shaft in the five-axis drive assembly 5 (i.e., the fifth drive shaft 54). The robot further includes a four-axis reducer 46 connected to the fourth drive shaft end, a five-axis reducer 56 connected to the drive shaft end in the five-axis drive assembly, and a six-axis reducer 66 connected to the sixth drive shaft end.
In summary, in the robot joint structure with adjustable axial play and the robot provided by the utility model, the transmission shafts in the transmission assemblies are of hollow structures, and the transmission shafts of the transmission assemblies are sequentially sleeved and connected with each other through the connecting bearing with adjustable axial play to realize cascade connection of the transmission gears, so that conditions are provided for synchronous adjustment of the axial play of the transmission assemblies. The retainer provides space and position for assembling the axial play adjusting assembly while ensuring coaxiality of a plurality of cascaded transmission gears, and greatly reduces the space occupied by the play adjusting assembly in the robot joint structure. In addition, for the play adjusting component, when the adjusting bearing realizes relative rotation between the adjusting part and the innermost transmission gear, the adjusting piece sequentially adjusts the axial play clearance of the connecting bearing between the adjacent transmission components based on the adjusting bearing, so that the transmission precision of the joint of the multi-axis integrated robot is improved, noise abnormal sound is eliminated, and the problems of abrasion of the transmission gear, breakage of the transmission shaft and the like caused by locking of the bearing are effectively avoided.
Although the utility model has been described with reference to the preferred embodiments, it should be understood that the utility model is not limited thereto, but rather may be modified and varied by those skilled in the art without departing from the spirit and scope of the utility model.
Claims (10)
1. An axial play adjustable robot joint structure, characterized by comprising:
Each transmission assembly comprises a motor gear, a transmission gear and a hollow transmission shaft, and the motor gears are meshed with the transmission gears to drive the corresponding transmission shafts to rotate; the transmission shafts in the plurality of transmission assemblies are sleeved in sequence and connected through connecting bearings with adjustable axial gaps, and the outer diameters of the transmission gears in the plurality of transmission assemblies are increased in sequence;
The retainer is arranged at the input ends of the transmission shafts and comprises an adjusting part, an annular frame body and a plurality of blocking pieces arranged between the adjusting part and the annular frame body, and each blocking piece is positioned between two motor gears of adjacent transmission assemblies; the outer diameter of the adjusting part is smaller than that of the annular frame body, the transmission gears of the plurality of transmission assemblies are sequentially assembled between the adjusting part and the annular frame body in a cascading way through corresponding transmission shafts and connecting bearings, an adjusting hole coaxial with the annular frame body is formed in the adjusting part, and a thread section is arranged in the adjusting hole;
The play adjusting assembly comprises an adjusting bearing and an adjusting piece, wherein the axial play of the adjusting bearing is adjustable, the adjusting bearing is assembled in the adjusting hole and abuts against a transmission gear close to the adjusting hole, and the adjusting piece is in threaded connection with a threaded section of the adjusting hole and abuts against the adjusting bearing.
2. The robot joint structure with adjustable axial play according to claim 1, wherein a plurality of locking holes uniformly distributed along the circumferential direction are formed in the peripheral wall of the threaded section in the adjusting hole, and the play adjusting assembly further comprises a plurality of fasteners, wherein the fasteners penetrate the locking holes in the peripheral wall of the adjusting hole to lock the adjusting piece in the adjusting hole.
3. The robot joint structure with adjustable axial play according to claim 1, wherein a plurality of stoppers are uniformly disposed between the adjustment portion and the annular frame body in the circumferential direction, each of the stoppers including a radial segment connected to the adjustment portion, an axial segment connected to the annular frame body, and a transition segment connected between the radial segment and the axial segment; on the axial projection surface of the transmission shaft, the radial section is positioned on the inner side of the axial section.
4. The robot joint structure with adjustable axial play according to claim 3, wherein an included angle formed between the radial section and the transition section toward the inside of the cage is 125 degrees or more and 155 degrees or less.
5. The robot joint structure with adjustable axial play according to claim 1, wherein the adjusting bearing and the connecting bearing are each any one of a tapered roller bearing, an angular contact ball bearing, or a thrust bearing.
6. The robot joint structure with adjustable axial play according to claim 1, wherein the adjusting member has a relief hole penetrating the adjusting member in an axial direction.
7. The robot joint structure with adjustable axial play according to claim 1, wherein each transmission assembly further comprises a motor for driving the motor gear to rotate, and the motor gear and the transmission gear are meshed in a bevel gear manner.
8. A robot comprising the robot joint structure having an adjustable axial play according to any one of claims 1 to 7.
9. The robot of claim 8, wherein the robot is a six-axis robot, and the robot joint structure with adjustable axial play comprises three sets of transmission assemblies, namely a four-axis transmission assembly, a five-axis transmission assembly and a six-axis transmission assembly of the six-axis robot;
the transmission shaft in the six-shaft transmission assembly and the transmission shaft in the five-shaft transmission assembly are sequentially sleeved on the transmission shaft in the four-shaft transmission assembly; the transmission gears in the six-shaft transmission assembly, the transmission gears in the five-shaft transmission assembly and the transmission gears in the four-shaft transmission assembly are sequentially assembled in the retainer, and the outer diameters of the transmission gears are sequentially increased; an adjusting bearing in the lash adjustment assembly abuts a drive gear in the six-axis drive assembly to adjust axial lash between the three sets of drive assemblies.
10. The robot of claim 9 wherein the drive shaft ends in the five-axis drive assembly extend out of the drive shaft in the four-axis drive assembly and the drive shaft ends in the six-axis drive assembly extend out of the drive shaft in the five-axis drive assembly;
The robot further comprises a four-shaft speed reducer connected to the tail end of the transmission shaft in the four-shaft transmission assembly, a five-shaft speed reducer connected to the tail end of the transmission shaft in the five-shaft transmission assembly and a six-shaft speed reducer connected to the tail end of the transmission shaft in the six-shaft transmission assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322692773.8U CN220945427U (en) | 2023-10-08 | 2023-10-08 | Robot joint structure with adjustable axial clearance and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322692773.8U CN220945427U (en) | 2023-10-08 | 2023-10-08 | Robot joint structure with adjustable axial clearance and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220945427U true CN220945427U (en) | 2024-05-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322692773.8U Active CN220945427U (en) | 2023-10-08 | 2023-10-08 | Robot joint structure with adjustable axial clearance and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220945427U (en) |
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2023
- 2023-10-08 CN CN202322692773.8U patent/CN220945427U/en active Active
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