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Industrial robot wrist joint structure

A robot wrist and joint structure technology, applied in the field of robotics, can solve the problems of low energy saving and environmental protection efficiency, large transmission viscous resistance, and difficult control, and achieve high energy saving and environmental protection efficiency, small transmission viscous resistance, and low control difficulty. Effect

Inactive Publication Date: 2020-06-16
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure is complex; transmission viscous resistance is large, energy saving and environmental protection efficiency is low; and the anti-backlash gear is a spring double-plate gear structure, the inertia is large, and the control is difficult

Method used

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  • Industrial robot wrist joint structure
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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] Such as Figure 1-2 As shown, the wrist joint structure of an industrial robot provided by the present invention includes a base 1, a waist seat 2, a large arm 3, a three-axis assembly 4, a small arm 5, a wrist shaft assembly 6, and an end flange 7 that are sequentially connected in rotation. The arm 5 is provided with a six-axis drive mechanism connected to the end flange 7 , and the six-axis drive mechanism has an axial floating degree of freedom along the end flange 7 .

[0026] Such as Figure 3-5 As shown, the six-axis driving mechanism includes a six-axis motor 18, a secondary belt transmission mechanism, a six-axis central shaft 26, a large bevel gear 30 and a small bevel gear 31, wherein the six-axis central shaft 26 passes through...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to an industrial robot wrist joint structure. The industrial robot wrist joint structure comprises a base, a waist seat, a large arm, a three-axis assembly, a small arm, a wrist shaft assembly and a tail end flange which are sequentially connected in a rotating mode, a six-axis driving mechanism is arranged in the small arm, the six-axis driving mechanism has the freedom degree of floating in the axial direction of the tail end flange, the six-axis driving mechanism comprises a six-axis motor, a secondary belt transmission mechanism, a six-axis center shaft, a large bevel gear and a small bevel gear, the six-axis center shaft is rotationally arranged in the small arm and is perpendicular to the axis of the tail end flange, the large bevel gear is arranged on the six-axis center shaft in a sleeving mode and can rotate along with the six-axis center shaft, the small bevel gear is arranged on the tail end flange in a sleeving mode and is fixed in the circumferential direction and movable in the axial direction, the small bevel gear is meshed with the large bevel gear, the six-axis motor is arranged in thesmall arm, and the output end of the six-axis motor is in transmission connection with the six-axis center shaft through the secondary belt transmission mechanism. According to the industrial robot wrist joint structure, the structure is simple, the purpose of light weight is achieved, transmission viscous resistance is small, and energy-saving and environment-friendly efficiency is high.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to an industrial robot wrist joint structure. Background technique [0002] At present, an industrial robot includes an arm and a wrist, and the wrist is rotatably connected to the arm, and the industrial robot is configured to drive the rotation of the wrist by an actuator while passing through a terminal attached to the terminal. An actuator (for example, a torch for arc welding, etc.) performs a predetermined operation. In the past, the following industrial robots have been disclosed: it has a plurality of joints connected to each other in a rotatable manner. Use a welding torch, etc.) to perform the specified work. [0003] Conventionally, an industrial robot has been proposed which includes a plurality of links rotatably connected to each other and which can A predetermined operation is performed while rotatably driving the link by using the actuator. The structure is comple...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J17/02
CPCB25J17/00B25J17/02
Inventor 张洪军朱维金孙宝龙陈立博单志超王凤利王金涛张盟奇
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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