Single-support hollow wrist joint of robot

Abstract

The robot single-support hollow wrist joint comprises a small arm shell and a wrist shell, a hollow speed reducer is installed at the front end of the small arm shell, the input end of the hollow speed reducer is fixedly connected with a first belt wheel, the output end of the hollow speed reducer is connected with the wrist shell, and a driving bevel gear is installed in the hollow speed reducer; a gear shaft of the driving bevel gear is fixedly sleeved with a second belt wheel; a first servo motor and a second servo motor are installed at the rear end of the small arm shell and drive a first belt wheel and a second belt wheel to rotate through a first belt and a second belt respectively. A driven bevel gear and a driving cylindrical gear are mounted at one end in the wrist shell, and a hollow duplicate gear is mounted at the other end in the wrist shell; the driving bevel gear is meshed with the driven bevel gear, and the hollow duplicate gear is meshed with the driving cylindrical gear. The hollow joint can drive a robot end executing mechanism with larger weight, the hollow joint is compact in structure, the hollow hole diameter is not limited by the type and the structure of a speed reducer, and the hollow joint can be flexibly designed to meet the requirement for passing of cables with various wire diameters.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot single-support hollow wrist joint. Background technique [0002] With the continuous development of intelligent manufacturing, the application fields of industrial robots are becoming wider and wider. Among them, the welding field is the largest market for industrial robot applications. Robots with hollow wrists can obtain a larger working range and a more flexible running posture during welding, and are more widely favored. [0003] The structure of the existing welding robot has the following technical defects: [0004] 1. The second servo motor used to drive the movement of the wrist output part is installed on the wrist, which increases the self-weight of the wrist, so that the load of the first servo motor used to drive the movement of the wrist increases, and the effective load of the wrist can be driven. Limited. [0005] 2. For the hollow output joint formed by ...

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Problems solved by technology

[0006] 3. The hollow output joint composed of multi-stage gear structure cannot guarantee the accuracy and stability of gear transmission during operation.

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