Industrial robot

Abstract

The invention discloses an industrial robot comprising a first wrist unit, a second wrist unit, a third wrist unit, a first motor, a first transmission chain, a second motor, a second transmission chain and a control device which are sequentially connected in a rotation mode. The first wrist unit, the second wrist unit and the third wrist unit can respectively rotate around a first axis, a second axis and a third axis, and the first axis, the second axis and the third axis are mutually crossed into an intersection point. An included angle between the second axis and the third axis is larger than 0 degree and smaller than 90 degrees. The first transmission chain comprises a first bevel gear group and one bevel gear in the first bevel gear group is fixed relative to the second wrist unit. The second transmission chain comprises an intermediate shaft rotatably connected with the second wrist unit, as well as a second bevel gear group and a third bevel gear group which are arranged along the rotation axis of the intermediate shaft at intervals, wherein one bevel gear of the third bevel gear group is fixed relative to the third wrist unit, and the rotation axis of the intermediate shaft is orthogonal to the second axis through the intersection point. The second wrist unit of the industrial robot can move in an omnibearing way, has a compact structure and occupies less space.

Description

technical field [0001] The invention relates to a robot, in particular to an industrial robot with a plurality of wrist units connected in sequence. Background technique [0002] Industrial robots usually have: a first wrist unit that is rotatably arranged around a first axis, and a fork-shaped structure is formed on one side of the front end of the first wrist unit; a second wrist unit; and a third wrist unit rotatably provided on the front end side of the second wrist unit. The third wrist unit is used as the end axis of the industrial robot, such as the sixth axis of the six-axis industrial robot, which can be used to install end effectors such as fixtures, cutting tools, and detectors to perform various tasks. The rotation axes of the above-mentioned first and third wrist units are usually perpendicular to the rotation axes of the second wrist unit respectively, therefore, the third wrist unit and the end effector are likely to touch the first wrist unit during the rota...

AI Technical Summary

Problems solved by technology

The above structure increases the volume and occupied space of the wrist unit, which is not conducive to the application of industrial robots in a narrow operating space

Moreover, the weight of the second wrist unit and the third wrist unit is relatively heavy, so the moment of inertia becomes larger, which makes it difficult to improve the accuracy and speed of control

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