Robot joint structure and robot joint structure assembly method

Abstract

The invention provides a robot joint structure and a robot joint structure assembly method. The robot joint structure comprises a rocker arm and a base, the rocker arm comprises a mounting cavity, therobot joint structure comprises a driving motor, a wave generator and a reducer rigid and soft wheel member, and the wave generator is mounted to the reducer rigid and soft wheel member; the reducerrigid and soft wheel member is installed in the manner that a first part is fixed to the rocker arm and a second part is fixed to the base, and the reducer rigid and soft wheel member is located at afirst end opening of the mounting cavity; and the driving motor is inserted into the mounting cavity from a second end opening of the mounting cavity and is fixed to the rocker arm, and an output shaft of the driving motor is directly in matched transmission with an inner hole of the wave generator. By means of the robot joint structure and the robot joint structure assembly method, the output shaft of the driving motor is directly connected to the inner hole of the wave generator, the size of the robot joint structure can be decreased, and the designability of the applicable range and the volume is improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of robots, and more specifically, relate to a robot joint structure and an assembly method for the robot joint structure. Background technique [0002] Industrial robots are an important automation equipment in the modern manufacturing industry. They have been widely used in CNC (Computerized Numerical Control, computer numerical control technology) loading and unloading, mobile phone shell grinding, metal grinding and other application fields. Manufacturing with industrial robots as the core The demand for equipment is increasing day by day. In the research and development process of the multi-joint robot body, the design of the robot joint structure scheme is a crucial link, and it is one of the technical cores of the research and development of the mechanical part of the robot. [0003] The existing robot joint structure generally adds a connecting piece between the drive motor and the reduce...

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Problems solved by technology

[0008] The embodiments of the present invention aim at the joint structure of the above-mentioned robot. The method of adding connectors to realize the driving connection needs to occupy a large space, so that the volume design of the robot is limited, the connectors may have processing errors, and there is a potential to increase the overall error of the robot. Risk, which is not conducive to the realization of high-precision operations of the robot, and the connectors have high requirements for assembly capabilities. Once the connectors have assembly problems, it is easy to cause vibration and noise of the robot joints, which in turn affects the performance and life of the robot joint structure and assembly efficiency. low, and it is difficult to disassemble and install the motor after the assembly of the whole machine, and provide a robot joint structure and an assembly method for the robot joint structure

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