Two-shaft structure for robot and robot

Abstract

The invention discloses a two-shaft structure for a robot and the robot and belongs to the technical field of robots. The two-shaft structure for the robot comprises a motor, a minor arm, a major armand a reducer. A motor shell is installed on an end face of a motor installation flange. The other end face of the motor installation flange is connected with an output end of the reducer. A motor driving shaft is connected with a wave generator of the reducer. The wave generator is in transmission connection with an input end of the reducer. The output end of the reducer is also connected with the minor arm. A fixed end of the reducer is connected with the major arm. Compared with an existing two-shaft structure of a selective compliance assembly robot arm (SCARA) four-shaft industrial robot,connecting components between the motor shell and the output end of the reducer of the two-shaft structure for the robot are reduced; the connecting mode of the motor shell and the reducer is optimized; installation accuracy of two shafts is improved; and because of reduction of the connecting components, sealing structures between the motor shell and the output end of the reducer are also reduced by one layer, and the oil leakage-preventive effect is better.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot two-axis structure and a robot. Background technique [0002] The traditional SCARA four-axis industrial robot two-axis structure reducer and motor are installed through the cooperation of multiple parts, and the installation accuracy is difficult to guarantee if there are too many connecting and matching parts. It is more difficult, prone to damage to the oil leakage reducer, and the installation, maintenance and disassembly are more complicated. Among them, the connection of motor, reducer and forearm is the core part, but in the existing SCARA four-axis industrial robot two-axis structure, the motor shell is usually installed on the upper end surface of the motor mounting flange, and the motor mounting flange The lower end surface is connected with the small arm, and the small arm is connected with the output end of the reducer. In this way, there are many parts conne...

AI Technical Summary

Problems solved by technology

In this way, there are many parts connected between the motor and the reducer, resulting in poor installation accuracy; and during the rotation process, the connection between the connecting parts needs to increase the sealing structure. The more parts, the more sealing structures are needed. And the more difficult it is to ensure the sealing during the rotation process, resulting in the problem of easy oil leakage

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