Industrial robot wrist anti-overturning device and side clearance adjustment method

Abstract

The present invention relates to the field of robot technology, specifically to an industrial robot wrist anti-overturning device and a novel side clearance adjustment method, comprising a J5 transmission arm and a J6 transmission arm, wherein the J5 transmission arm comprises a J5 joint, a J5 reduction device, and a J5 transmission device, wherein the J5 reduction device is fixed on the J5 joint, and the J6 transmission arm comprises a J6 joint, a J6 joint, a J6 reduction device, and a J6 transmission device, wherein the J6 joint is fixed on the J5 reduction device, and the J6 reduction device is fixed on the J6 joint, and an auxiliary shaft is passed through the J6 joint and the J5 joint, and a fine thread is provided on the outer wall of the auxiliary shaft, and the fine thread of the auxiliary shaft is rotatably mounted on the internal thread in the flange on the J6 joint. The present invention adopts an auxiliary shaft to pass through the J6 joint and the J5 joint, so as to improve the rigidity of the wrist and enhance the impact resistance of the wrist; at the same time, a fine thread is added to the auxiliary shaft, and the purpose of simply and quickly adjusting the gear side clearance is achieved by twisting into the depth, thereby improving the assembly efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an industrial robot wrist anti-overturning device and a novel side clearance adjustment method. Background Art

[0002] The wrist of an industrial robot supports the hand. The wrist is an important part of an articulated robot, connecting the arm and the end effector, and changing the posture of the end effector. The ability of the wrist depends on the reduction gear, which affects the accuracy and precision of the robot. When manufacturing a robot, the side clearance of the gear device should be reduced or eliminated as much as possible.

[0003] At present, most industrial robot wrists often collide during actual use, which may cause severe damage to the robot wrist and require replacement of new deceleration devices, which are expensive, costly, and inconvenient to install and maintain. Summary of the invention

[0004] In view of the technical problems existing in the prior art, the present invention provides an industrial robot wrist anti-overturning device and a novel side clearance adjustment method, which can prevent the reduction device from being damaged when the robot wrist collides. The device can bear most of the overturning torque, effectively reduce the force on the reduction device, and can easily adjust the side clearance of the bevel gear, avoiding unnecessary work caused by repeated disassembly and assembly.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: an industrial robot wrist anti-overturning device, comprising a J5 transmission arm and a J6 transmission arm connected to the J5 transmission arm, the J5 transmission arm is provided with a J5 reduction device, the output end of the J5 reduction device is rigidly connected to a second J5 bevel gear, the J5 transmission arm is also provided with a J5 transmission device, the J5 transmission device comprises a J5 transmission shaft, one end of the J5 transmission shaft is provided with a third J5 bevel gear meshing with the second J5 bevel gear for transmission, and the other end thereof is provided with a first J5 bevel gear, the J5 transmission arm is also provided with a J5 joint, the J5 joint is rigidly connected to a J5 fixing flange; the J6 transmission arm is provided with a J6 joint fixed to the J5 reduction device, the J6 joint is fixed with the J6 reduction device, and the J6 reduction device The input end of the device is rigidly connected with the fourth J6 bevel gear, the J6 joint is rotatably connected with the third J6 bevel gear, the third J6 bevel gear is rigidly connected with the second J6 bevel gear, the J6 transmission arm is also provided with a J6 transmission device, the J6 transmission device includes a J6 transmission shaft, one end of the J6 transmission shaft is provided with a first J6 bevel gear meshing with the second J6 bevel gear for transmission, and the other end thereof is rigidly connected with the first J6 gear, an auxiliary shaft passes through the J6 joint and the J5 joint, a fine thread is provided on the outer wall of the auxiliary shaft, the fine thread of the auxiliary shaft is rotatably mounted on the internal thread in the flange on the J6 joint, and both ends of the auxiliary shaft are axially positioned at the J5 joint and the J6 joint through tapered roller bearings and thrust ball bearings, and the auxiliary shaft is rigidly connected to the J5 fixed flange.

[0006] A further solution is that the J5 reduction device is fixed on the J5 joint.

[0007] A further solution is that a first double-row angular contact ball bearing and a first single-row deep groove ball bearing are respectively provided at both ends of the J5 transmission shaft to enable the J5 transmission shaft to be rotatably installed in the J5 joint.

[0008] A further solution is that a second double-row angular contact ball bearing and a second single-row deep groove ball bearing are respectively provided at both ends of the J6 transmission shaft to achieve rotatable fixation of the J6 transmission shaft in the J5 joint.

[0009] A further solution is that the fine thread is an M14 fine thread.

[0010] A further solution is that the third J6 bevel gear is provided with a third double-row angular contact ball bearing, and the third J6 bevel gear is rotatably fixed on the J6 joint through the third double-row angular contact ball bearing.

[0011] The present invention also provides a novel side clearance adjustment method of an industrial robot wrist anti-rollover device, comprising the above-mentioned industrial robot wrist anti-rollover device, and the specific steps are as follows:

[0012] S1, rigidly connect the J5 reduction gear and the second J5 bevel gear as a module and fix them on the J5 joint;

[0013] S2, rigidly connect the third J5 bevel gear and the first J5 bevel gear to the J5 transmission shaft respectively;

[0014] S3, fix the J6 joint to the J5 reduction device and rigidly connect the J6 joint;

[0015] S4, rigidly connect the fourth J6 bevel gear and the J6 reduction gear, and fix them on the J6 joint as a module;

[0016] S5, rigidly connect the J5 fixed flange to the J5 joint, and rotatably install the external thread of the auxiliary shaft on the internal thread of the flange on the J6 joint. Both ends of the auxiliary shaft are axially positioned at the J5 joint and the J6 joint through tapered roller bearings and thrust ball bearings. Fine pitch threads are added to the auxiliary shaft, and the purpose of simply and quickly adjusting the gear backlash is achieved by twisting the auxiliary shaft into depth;

[0017] S6. Use an external tool to slowly rotate the auxiliary shaft to determine the meshing conditions of all gears in the J6 transmission arm. If the requirements are met, rigidly connect the auxiliary shaft to the J5 fixed flange through the fixing parts to prevent the auxiliary shaft from loosening during movement and affecting the transmission accuracy.

[0018] A further solution of the new side clearance adjustment method of the anti-overturning device of the wrist of an industrial robot is that in step S2, both ends of the J5 transmission shaft are rotated and installed at appropriate positions of the J5 joint through the first double-row angular contact ball bearing and the first single-row deep groove ball bearing, and the outer ring of the first double-row angular contact ball bearing is pressed by the flanged fixing bolts, thereby ensuring the axial position of the J5 transmission device.

[0019] A further solution of the novel side clearance adjustment method of the anti-overturning device of the wrist of an industrial robot is that in step S4, the third J6 bevel gear and the second J6 bevel gear are rigidly connected and rotatably fixed on the J6 joint through a third double-row angular contact ball bearing.

[0020] The novel side clearance adjustment method of the anti-overturning device of the wrist of an industrial robot also includes step S4-1, rigidly connecting the first J6 gear and the first J6 bevel gear to the J6 transmission shaft, and rotatably fixing the two ends of the J6 transmission shaft in the J5 joint through a second double-row angular contact ball bearing and a second single-row deep groove ball bearing, and pressing the outer ring of the second double-row angular contact ball bearing through a flanged fixing bolt, thereby ensuring the axial position of the J6 transmission device.

[0021] The beneficial effect of adopting the above scheme is that the present invention adopts an auxiliary shaft to penetrate the J6 joint and the J5 joint, thereby improving the rigidity of the wrist and enhancing the impact resistance of the wrist; at the same time, an M14 fine pitch thread is added to the auxiliary shaft to achieve the purpose of simply and quickly adjusting the gear side clearance by twisting into the depth, thereby improving assembly efficiency.

[0022] The present invention adopts an additional auxiliary shaft to improve the bending resistance of the wrist, strengthens the overall rigidity of the wrist, effectively reduces the overturning moment of the wrist reduction device, shortens the assembly and debugging cycle, and improves the robot performance such as precision and accuracy. The auxiliary shaft adopts a spiral type, which can simply, quickly and effectively fine-tune the side clearance of the bevel gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0025] 1-J5 joint, 2-J5 reduction gear, 3-J5 fixing flange, 4-second J5 bevel gear, 5-J5 transmission shaft, 6-third J5 bevel gear, 7-first J5 bevel gear, 8-J6 joint, 10-J6 reduction gear, 11-fourth J6 bevel gear, 12-end output flange, 13-third J6 bevel gear, 14-second J6 bevel gear, 15-J6 transmission shaft, 16-first J6 bevel gear, 17-first J6 gear, 18-auxiliary shaft. DETAILED DESCRIPTION

[0026] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0027] like Figure 1 As shown, the present invention provides the following preferred embodiments, an industrial robot wrist anti-overturning device, comprising a J5 transmission arm and a J6 transmission arm connected to the J5 transmission arm, wherein the J5 transmission arm comprises a J5 joint 1, a J5 reduction device 2, and a J5 transmission device, the J5 reduction device 2 is fixed on the J5 joint 1, the J5 joint is rigidly connected to a J5 fixing flange 3, the output end of the J5 reduction device 2 is rigidly connected to a second J5 bevel gear 4, and the J5 transmission device comprises a J5 transmission shaft 5, one end of the J5 transmission shaft 5 is provided with a third J5 bevel gear 6 meshing with the second J5 bevel gear 4 for transmission, and the other end thereof is provided with a first J5 bevel gear 7, and both ends of the J5 transmission shaft 5 are respectively provided with a first double-row angular contact ball bearing and a first single-row deep groove ball bearing, so that the J5 transmission shaft 5 is rotatably installed at a suitable position in the J5 joint 1;

[0028] In addition, the J6 transmission arm includes a J6 joint 8, a J6 reduction device 10, and a J6 transmission device. The J6 joint 8 is fixed to the J5 reduction device 2, the J6 reduction device 10 is fixed to the J6 joint 8, the input end of the J6 reduction device 10 is rigidly connected to the fourth J6 bevel gear 11, the output end of the J6 reduction device 10 is provided with a terminal output flange 12, the J6 joint 8 is rotatably connected to the third J6 bevel gear 13, the third J6 bevel gear 13 is rigidly connected to the second J6 bevel gear 14, and the third J6 bevel gear 13 is provided with a third Three double-row angular contact ball bearings, the third J6 bevel gear 13 is rotatably fixed on the J6 joint 8 through the third double-row angular contact ball bearing; and the J6 transmission device includes a J6 transmission shaft 15, one end of the J6 transmission shaft 15 is provided with a first J6 bevel gear 16 meshing with the second J6 bevel gear 14 for transmission, and the other end thereof is rigidly connected with the first J6 gear 17, and the two ends of the J6 transmission shaft 15 are respectively provided with a second double-row angular contact ball bearing and a second single-row deep groove ball bearing, so as to realize that the J6 transmission shaft 15 is rotatably fixed in the J5 joint 1;

[0029] An auxiliary shaft 18 passes through the J6 joint 8 and the J5 joint 1, and a fine thread is provided on the outer wall of the auxiliary shaft 18. The fine thread of the auxiliary shaft 18 is rotatably mounted on the internal thread in the flange on the J6 joint 8, and both ends of the auxiliary shaft 18 are axially positioned at the J5 joint and the J6 joint 8 through tapered roller bearings and thrust ball bearings. The auxiliary shaft 18 is rigidly connected to the J5 fixed flange 3.

[0030] In summary, the present invention adopts an auxiliary shaft 18 to penetrate the J6 joint 8 and the J5 joint 1, so as to improve the rigidity of the wrist and enhance the impact resistance of the wrist; at the same time, an M14 fine pitch thread is added to the auxiliary shaft 18, and the purpose of simply and quickly adjusting the gear side clearance is achieved by twisting into the depth, thereby improving the assembly efficiency; the impact resistance of the wrist is improved, the overall rigidity of the wrist is strengthened, the assembly and debugging cycle is shortened, and the robot performance such as precision and accuracy can be effectively improved.

[0031] In addition, the present invention also provides a novel side clearance adjustment method for an industrial robot wrist anti-overturning device, and the specific steps are as follows:

[0032] S1, rigidly connect the J5 reduction gear 2 and the second J5 bevel gear 4 as a module, and fix them on the J5 joint 1;

[0033] S2. The third J5 bevel gear 6 and the first J5 bevel gear 7 are rigidly connected to the J5 transmission shaft 5 respectively. The two ends of the J5 transmission shaft 5 are rotated and installed at the appropriate position of the J5 joint 1 through the first double-row angular contact ball bearing and the first single-row deep groove ball bearing. The outer ring of the first double-row angular contact ball bearing is pressed by the flange fixing bolts to ensure the axial position of the J5 transmission device.

[0034] S3, fix the J6 joint 8 on the J5 reduction device 2, and rigidly connect the J6 joint 8;

[0035] S4, rigidly connecting the fourth J6 bevel gear 11 and the J6 reduction gear 10, and fixing them on the J6 joint 8 as a module, rigidly connecting the third J6 bevel gear 13 and the second J6 bevel gear 14, and rotatably fixing them on the J6 joint 8 through a third double-row angular contact ball bearing;

[0036] S4-1, rigidly connect the first J6 gear 17 and the first J6 bevel gear 16 to the J6 transmission shaft 15, and rotatably fix the two ends of the J6 transmission shaft 15 in the J5 joint 1 through the second double-row angular contact ball bearing and the second single-row deep groove ball bearing, and press the outer ring of the second double-row angular contact ball bearing through the flanged fixing bolts, thereby ensuring the axial position of the J6 transmission device;

[0037] S5, rigidly connect the J5 fixing flange 3 to the J5 joint, and rotatably install the external thread of the auxiliary shaft 18 on the internal thread of the flange on the J6 joint 8. Both ends of the auxiliary shaft 18 are axially positioned at the J5 joint 1 and the J6 joint 8 through tapered roller bearings and thrust ball bearings. Fine pitch threads are added to the auxiliary shaft 18, and the purpose of simply and quickly adjusting the gear backlash is achieved by twisting the auxiliary shaft 18 into depth;

[0038] S6. Use an external tool to slowly rotate the auxiliary shaft 18 to determine the meshing conditions of all gears in the J6 transmission arm. When the requirements are met, rigidly connect the auxiliary shaft 18 to the J5 fixed flange 3 through the fixing parts to prevent the auxiliary shaft 18 from loosening during movement and affecting the transmission accuracy.

[0039] In summary, when the wrist is hit, the auxiliary shaft 18 can bear a large bending moment, and the double-row deep groove ball bearings and tapered roller bearings at both ends of the auxiliary shaft 18 can absorb the impact force, reduce the impact of the J5 reducer 2, and thus protect the reducer. At the same time, the outer ring of the auxiliary shaft 18 adopts fine pitch threads, which can achieve the purpose of simple and fast fine-tuning of the gear side clearance, and has an anti-loosening device to avoid loosening and reduce the transmission accuracy, without frequent disassembly and assembly of each module, which increases unnecessary working hours.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot wrist anti-overturning device, comprising a J5 transmission arm and a J6 transmission arm connected to the J5 transmission arm, the J5 transmission arm is provided with a J5 reduction device, the input end of the J5 reduction device is rigidly connected to a second J5 bevel gear, the J5 transmission arm is also provided with a J5 transmission device, the J5 transmission device comprises a J5 transmission shaft, one end of the J5 transmission shaft is provided with a third J5 bevel gear meshing with the second J5 bevel gear, and the other end of the J5 transmission shaft is provided with a first J5 bevel gear, the J5 transmission arm is also provided with a J5 joint, and the J5 joint is rigidly connected to a J5 fixing method The J6 transmission arm is provided with a J6 joint fixed to the J5 reduction device, the J6 joint is fixed with a J6 reduction device, the input end of the J6 reduction device is rigidly connected with a fourth J6 bevel gear, the J6 joint is rotatably connected with a third J6 bevel gear, the third J6 bevel gear is rigidly connected with a second J6 bevel gear, the J6 transmission arm is also provided with a J6 transmission device, the J6 transmission device includes a J6 transmission shaft, one end of the J6 transmission shaft is provided with a first J6 bevel gear meshing with the second J6 bevel gear for transmission, and the other end thereof is rigidly connected with a first J6 gear, characterized in that: An auxiliary shaft passes through the J6 joint and the J5 joint, and a fine thread is provided on the outer wall of the auxiliary shaft. The fine thread of the auxiliary shaft is rotatably mounted on the internal thread in the flange on the J6 joint, and both ends of the auxiliary shaft are axially positioned at the J5 joint and the J6 joint through tapered roller bearings and thrust ball bearings, and the auxiliary shaft is rigidly connected to the J5 fixed flange.

2. The industrial robot wrist anti-overturning device according to claim 1, characterized in that: The J5 reduction gear is fixed on the J5 joint.

3. The industrial robot wrist anti-overturning device according to claim 1 or 2, characterized in that: A first double-row angular contact ball bearing and a first single-row deep groove ball bearing are respectively provided at both ends of the J5 transmission shaft to enable the J5 transmission shaft to be rotatably installed in the J5 joint.

4. The industrial robot wrist anti-overturning device according to claim 1 or 2, characterized in that: A second double-row angular contact ball bearing and a second single-row deep groove ball bearing are respectively provided at both ends of the J6 transmission shaft to enable the J6 transmission shaft to be rotatably fixed in the J5 joint.

5. The industrial robot wrist anti-overturning device according to claim 1, characterized in that: The third J6 bevel gear is provided with a third double-row angular contact ball bearing, and the third J6 bevel gear is rotatably fixed on the J6 joint through the third double-row angular contact ball bearing.

6. A method for adjusting the side clearance of an industrial robot wrist anti-overturning device, characterized in that: The industrial robot wrist anti-overturning device according to any one of claims 1 to 5 comprises the following steps: S1, rigidly connect the J5 reduction gear and the second J5 bevel gear as a module and fix them on the J5 joint; S2, rigidly connect the third J5 bevel gear and the first J5 bevel gear to the J5 transmission shaft respectively; S3, fix the J6 joint to the J5 reduction device and rigidly connect the J6 joint; S4, rigidly connect the fourth J6 bevel gear and the J6 reduction gear, and fix them on the J6 joint as a module; S5, rigidly connect the J5 fixed flange to the J5 joint, and rotatably install the external thread of the auxiliary shaft on the internal thread of the flange on the J6 joint. Both ends of the auxiliary shaft are axially positioned at the J5 joint and the J6 joint through tapered roller bearings and thrust ball bearings. Fine pitch threads are added to the auxiliary shaft, and the purpose of simply and quickly adjusting the gear backlash is achieved by twisting the auxiliary shaft into depth; S6. Use an external tool to slowly rotate the auxiliary shaft to determine the meshing conditions of all gears in the J6 transmission arm. If the requirements are met, rigidly connect the auxiliary shaft to the J5 fixed flange through the fixing parts to prevent the auxiliary shaft from loosening during movement and affecting the transmission accuracy.

7. The side clearance adjustment method of the anti-overturning device of the wrist of an industrial robot according to claim 6, characterized in that: In step S2, both ends of the J5 transmission shaft are rotated and installed at appropriate positions of the J5 joint through the first double-row angular contact ball bearing and the first single-row deep groove ball bearing, and the outer ring of the first double-row angular contact ball bearing is pressed by the flanged fixing bolts to ensure the axial position of the J5 transmission device.

8. The side clearance adjustment method of the industrial robot wrist anti-overturning device according to claim 7, characterized in that: In step S4, the third J6 bevel gear and the second J6 bevel gear are rigidly connected and rotatably fixed on the J6 joint via a third double-row angular contact ball bearing.

9. The side clearance adjustment method of the industrial robot wrist anti-overturning device according to claim 6, characterized in that: It also includes step S4-1, rigidly connecting the first J6 gear and the first J6 bevel gear to the J6 transmission shaft, and rotatably fixing both ends of the J6 transmission shaft in the J5 joint through a second double-row angular contact ball bearing and a second single-row deep groove ball bearing, and pressing the outer ring of the second double-row angular contact ball bearing through a flanged fixing bolt, thereby ensuring the axial position of the J6 transmission device.

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