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An adjustment structure for the backlash of the wrist gear of an industrial robot and its application method

An industrial robot, gear backlash technology, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of difficult backlash detection, complicated adjustment process, time-consuming and laborious repeated installation, and achieve the effect of convenient and fast adjustment.

Active Publication Date: 2019-07-23
SIASUN ROBOT & AUTOMATION LIMITED BY SHARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The backlash of the gear can be adjusted by using a shim, which needs to detect the amount of backlash in advance and repeatedly disassemble and assemble the wrist. The detection of the backlash is difficult, and repeated installation is time-consuming and laborious. Therefore, industrial robot manufacturers need a method for assembling the wrist. A simple and fast real-time adjustment method for gear backlash
The invention with the publication number CN101426621B provides an adjustment device for adjusting the backlash in the gear transmission in an industrial robot. The invention adjusts the backlash of the gear by adjusting the input pinion, but since the pinion is connected On the output shaft of the motor, the adjustment will affect the output shaft of the motor, so the adjustment device involves a large area when used, and the adjustment process is more complicated

Method used

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  • An adjustment structure for the backlash of the wrist gear of an industrial robot and its application method
  • An adjustment structure for the backlash of the wrist gear of an industrial robot and its application method
  • An adjustment structure for the backlash of the wrist gear of an industrial robot and its application method

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Experimental program
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Effect test

Embodiment 1

[0024] Such as figure 1 , figure 2 , image 3 As shown, an industrial robot wrist gear backlash adjustment structure is arranged on the wrist 1 of the industrial robot. The entire wrist can rotate around the rotation axis I. The wrist 1 includes a first wrist with a first transmission shaft 10 2. The second wrist 3 with the second transmission shaft 22, the middle wrist 4 that can rotate around the axis II of the first transmission shaft 10 and has the third transmission shaft 32, and the first drive that can drive the first transmission shaft 10 The motor 17 and the second drive motor 18 that can drive the second transmission shaft 22, the first wrist 2 is fixedly connected with the second wrist 3, the middle wrist 4 is connected to the first wrist 2 through the first ball bearing 5, and the second wrist 2 is rotated through the second wrist. The ball bearing 6 is rotationally connected with the second wrist 3 . The output ends of the first drive motor 17 and the second d...

Embodiment 2

[0031] The housing of the middle wrist 4 is provided with an operation port corresponding to the first bevel gear adjusting bolt 26. Rotating the first bevel gear adjusting bolt 26 can change the first bevel gear adjusting bolt 26 to the first bevel gear 29, and then the third The disc spring 24 will perform self-elastic adjustment to push the first bevel gear 29 to move axially, and the backlash between the bevel gears will change accordingly. The first hypoid large gear fixing bolts 14 and the second hypoid large gear fixing bolts 27 are four each, and the planetary gear used for adjusting the first hypoid large gear fixing bolts 14 and the second hypoid large gear fixing bolts 27 The output torsion bar 36 of linkage type wrench is also correspondingly four. All the other are with embodiment 1.

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Abstract

The invention discloses an industrial robot wrist gear backlash adjusting structure and a using method thereof. The using method comprises the following steps that A, whether gear backlash between hypoid small gears and hypoid large gears and gear backlash between bevel gears are too large or not is judged through rotation conditions of a middle wrist and an output flange; B, if a user feels loose or swing and vibration conditions occur during rotation when the middle wrist is pushed with the hand, hypoid large gear fixing bolts on hypoid large gear fixing discs are appropriately screwed, and the distances between the hypoid large gears and the corresponding hypoid large gear fixing discs are decreased; and C, if the user feels loose or swing and vibration conditions occur during rotation when the output flange is pushed with the hand, bevel gear adjusting bolts are appropriately screwed, and therefore transmission shafts where the bevel gears are located move in the axial direction, and the gear backlash between the meshed bevel gears is decreased. By means of the industrial robot wrist gear backlash adjusting structure and the using method, industrial robot wrist gear backlash adjusting can be conveniently and rapidly achieved.

Description

technical field [0001] The present invention relates to a working mechanism and a working method of an automation equipment, more specifically, it relates to a structure for adjusting the backlash of a wrist gear of an industrial robot and a using method thereof. Background technique [0002] The wrist structure of industrial robots is relatively complex, generally including 3 degrees of freedom. For a 6-DOF robot with 5- and 6-joint motors placed behind 4-joints, the placement of the 5- and 6-axis motors, the size of the motors, and the transmission form restrict the width of the robot's wrist. Generally, the axis of the wrist motor of the robot is perpendicular to the axis of the 4 joints, and the harmonic reducer is used to transmit the torque. Because the motor is placed horizontally and the cost of the harmonic reducer is high, the overall width of the wrist and the cost of the robot body are increased. Using hyperboloid gear transmission instead of harmonic reducer t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J19/00
CPCB25J17/00B25J19/00
Inventor 李正刚陈立黄川郭龙高党波
Owner SIASUN ROBOT & AUTOMATION LIMITED BY SHARE