Hollow bias structure of wrist of industrial robot

Abstract

The invention relates to a hollow bias structure of a wrist of an industrial robot. The hollow bias structure comprises a tail end output assembly, a first inner sheath, a sixth-axis wrist body, a first sixth-axis transition transmission assembly, a fifth-axis output assembly, a fifth-axis crossed roller bearing locking flange, a fourth-axis wrist body, a fifth-axis transition transmission assembly, a second sixth-axis transition transmission assembly, a fourth-axis output assembly, a first wrist connecting piece, a second wrist connecting piece, a fourth-axis input assembly, a fifth-axis input assembly, a sixth-axis input assembly, a second inner sheath, a first O-type sealing ring, a third inner sheath, a first O-type sealing ring, a fourth inner sheath and a second O-type sealing ring. The left side of the fourth inner sheath is sleeved with the second sixth-axis transition transmission assembly, and the right side of the fourth inner sheath is sleeved with the second wrist connecting piece. A servo motor is used for controlling, the wrist is driven to run through a speed reducer and a series of transmission manners, a fifth axis can rotate without limitations, the takt can be increased, efficiency can be improved, and the requirements of the spraying technology can be met.

Description

technical field [0001] The invention relates to the technical field of industrial robot wrist structures, in particular to a hollow offset structure for industrial robot wrists. Background technique [0002] The structure of the industrial robot body plays a key role in the performance of the robot. For some special industries, such as the spraying industry, the robot wrist is required to be flexible and strong, and be able to complete the spraying operations on complex curved surfaces and narrow spaces. The traditional robot wrist adopts a double-supported wrist structure, which limits the range of movement of the 5-axis to a large extent. The movements that can be realized only by moving the 5-axis must be realized by moving other axes. This kind of driving structure undoubtedly increases the takt time of the process in actual production, and cannot meet the complex curved surface spraying needs in a narrow space, and it is difficult to improve the spraying efficiency. In...

AI Technical Summary

Problems solved by technology

The traditional robot wrist adopts a double-supported wrist structure, which limits the range of movement of the 5-axis to a large extent. The movements that can be realized only by moving the 5-axis must be realized by moving other axes. This kind of driving structure undoubtedly increases the takt time of the process in actual production, and cannot meet the complex curved surface spraying needs in a narrow space, and it is difficult to improve the spraying efficiency

In addition, due to the special environmental restrictions of painting, all paint pipes, solution pipes, air pipes, and other cables need to pass through the inside of the robot and be directly connected to the end effectors of the robot (such as spray guns, high-speed rotary cups) to use In order to ensure the cleanliness of the robot, and this wiring method is easy to maintain, avoiding the pipeline hanging outside the robot arm, which will cause hidden dangers to production safety. The traditional double-supported wrist structure cannot effectively wrap the cables and pipelines, and it is difficult to protect them. effect

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