An industrial robot wrist structure and installation method

Abstract

The invention provides a wrist structure of an industrial robot and an installation method. The structure comprises a five-axis transmission part and a six-axis transmission part, and is characterized in that the outer casing of a five-axis servo motor is fixedly connected with that of a five-axis speed reducer through a five-axis connecting plate; the outer casing of the five-axis speed reducer is fixedly connected with a five-axis casing; the five-axis servo motor drives the right end of a five-axis driving arm through the five-axis speed reducer; the driving arm is located outside the five-axis casing; the left end of the five-axis driving arm is connected with a six-axis casing; the left end of a five-axis driven arm is also connected with the six-axis casing; the right end of the five-axis driven arm is connected onto the five-axis casing through a rolling bearing; the front part of the five-axis speed reducer, the front part of the five-axis connecting plate and the front part of the five-axis servo motor are all located in the five-axis casing; the left end of the six-axis casing is fixedly provided with a six-axis connecting plate; the right end of the six-axis connecting plate is fixedly connected with the outer casing of a six-axis servo motor; the left end of the six-axis connecting plate is fixedly connected with the outer casing of a six-axis speed reducer; the output shaft of the six-axis servo motor is connected with the input end of the six-axis speed reducer. The structure is short in transmission chain, high in transmission precision, small in size and convenient to install and maintain.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot wrist structure and an installation method. Background technique [0002] The traditional industrial robot wrist includes five-axis transmission and six-axis transmission parts. There are two main types of wrist structures: [0003] One is that the five-axis motor and the reducer are on the wrist, the five-axis motor is directly connected to the five-axis reducer, and the output end of the five-axis reducer drives the six-axis part to swing through the synchronous belt transmission. Tensioning measures are required, the structure of the entire wrist is complicated, and the transmission accuracy is reduced; and the installation is not easy; [0004] The other is that the five-axis motor is placed at the rear end of the forearm. The five-axis power transmission to the six-axis partial swing requires the use of a five-axis reducer, intermediate drive s...

AI Technical Summary

Problems solved by technology

[0003] One is that the five-axis motor and the reducer are on the wrist, the five-axis motor is directly connected to the five-axis reducer, and the output end of the five-axis reducer drives the six-axis part to swing through the synchronous belt transmission. Tensioning measures are required, the structure of the entire wrist is complicated, and the transmission accuracy is reduced; and the installation is not easy;

[0004] The other is that the five-axis motor is placed at the rear end of the forearm. The five-axis power transmission to the six-axis partial swing requires the use of a five-axis reducer, intermediate drive shaft, bevel gear transmission and support bearings to drive the six-axis partial swing. The transmission structure of the robot is complicated, the weight of the robot increases, and it is difficult to lubricate, install and maintain

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