Hollow joint structure of industrial robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a hollow joint structure of an industrial robot. The hollow joint structure comprises a base, a waist seat, a largearm, a three-axis assembly, a small arm, a hollow shaft assembly and a tail end flange which are sequentially and rotationally connected, a four-axis rotation driving mechanism connected with the small arm is arranged in the three-axis assembly, and the four-axis rotation driving mechanism is used for driving the small arm to rotate relative to the three-axis assembly. The four-axis rotation driving mechanism comprises a four-axis motor, a two-stage belt transmission mechanism, a four-axis bevel pinion shaft, a four-axis center cylinder, a bevel pinion and a floating bevel gear wheel, the four-axis center cylinder and the four-axis bevel pinion shaft are rotatably arranged in the three-axis assembly and are perpendicular, the bevel pinion and the floating bevel gear wheel are arranged on the four-axis bevel pinion shaft and the four-axis center cylinder in a sleeved mode respectively and mesh with each other, and the output end of the four-axis motor is in transmission connection withthe four-axis bevel pinion shaft through the two-stage belt transmission mechanism. The hollow joint structure is small in transmission viscous resistance, high in energy-saving and environment-friendly efficiency, large in inertia ratio of the load to the motor rotor and easy to control.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a hollow joint structure of an industrial robot. Background technique [0002] At present, industrial robots are configured with: a lower arm; an upper arm connected to the lower arm in a rotatable manner relative to the lower arm; and a wrist connected to the upper arm in a manner capable of rotating relative to the upper arm. An actuator is used to rotate the wrist or the like, and an actuator for rotationally driving the wrist is mounted on the rear side of the upper arm. In addition, the above-mentioned actuator has a rotation axis direction as its longitudinal direction, and its orientation of the rotation axis is arranged parallel to the front-rear direction of the upper arm, so the actuator is attached so as to protrude rearward from the upper arm. However, devices corresponding to the work performed by the robot are also disposed on the rear side of the upper ...

AI Technical Summary

Problems solved by technology

The above structure makes the overall size of the robot larger, and the installation space of the robot will be expanded accordingly.

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