Industrial robot wrist transmission device and side clearance adjustment method thereof

Abstract

An industrial robot wrist transmission device and a side clearance adjustment method thereof, wherein a gasket is added to the wrist, and the gap between the housing and the transmission part can be filled by the gasket, so that the contact between the teeth in the gear set is more compact, specifically, the side surfaces on the teeth are in contact with each other, and the meshing position of the tooth surfaces is centered, thereby eliminating the side clearance in the gear set and solving the problems of severe wear and abnormal noise.

Description

Technical Field

[0001] The invention relates to the field of manipulators, in particular to an industrial robot wrist transmission device and a side clearance adjustment method thereof. Background Art

[0002] The wrist of an industrial robot supports the hand. The wrist is an important component of an articulated robot, connecting the arm and the end effector, and changing the posture of the end effector. The wrist has independent degrees of freedom, and the position of the workpiece can be adjusted or changed through the wrist so that the robot end effector can adapt to complex motion requirements.

[0003] In this regard, in order to meet the selection of various degrees of freedom, these industrial robots contain multiple gear sets. The side clearance between the gears in the gear set will affect the transmission efficiency and cause serious wear. At the same time, various abnormal noises will occur. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an industrial robot wrist transmission device, which aims to solve the problem of side clearance in traditional manipulators.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an industrial robot wrist transmission device, composed of a first transmission part and a second transmission part, the first transmission part causes the second transmission part to perform a rotating reciprocating motion, and is characterized in that it also includes a plurality of gaskets, the first transmission part and the second transmission part are installed in a shell, and both include a plurality of gear sets, the gap formed by the first transmission part and the second transmission part in the shell is filled with gaskets, so that the surfaces of the teeth in the gear sets contact each other when meshing.

[0006] Furthermore, the housing has a movable component, and the first transmission part causes the second transmission part to perform a rotating reciprocating motion through the component.

[0007] Furthermore, the second transmission part has a plurality of sets of bevel gears meshing with each other.

[0008] Further, the first transmission part includes a first input gear, a first transmission shaft, a first output gear, a first meshing gear and a first reduction device. The first output gear and the first meshing gear are both bevel gears. The first input gear drives the first output gear to rotate through the first transmission shaft. The first reduction device is driven by the first meshing gear. The first reduction device drives the movable part to rotate, wherein a third gasket is provided between the first meshing gear and the first reduction device.

[0009] Further, the second transmission part also includes a second input gear, a second transmission shaft, a second output gear, a second meshing gear, a third input gear, a second reduction gear, and a third output gear. The second output gear and the second meshing gear are bevel gears meshing with each other, the third input gear and the third output gear are bevel gears meshing with each other, the second meshing gear and the third input gear rotate coaxially, the second input gear rotates the second output gear through the second transmission shaft, the second meshing gear is driven by the second output gear, drives the third input gear to rotate, and makes the third output gear drive the second reduction gear to work, wherein bearings are installed on the second meshing gear and the third input gear, and a sixth gasket abutting against the second meshing gear and a fifth gasket abutting against the third input gear are provided inside and outside the bearing.

[0010] Furthermore, an output flange is connected to the output end of the second reduction device.

[0011] Furthermore, it also includes a first gasket and a second gasket. The first transmission shaft and the second transmission shaft are both provided with shaft shoulders. The first transmission shaft abuts against the first gasket through its shaft shoulder, and the second transmission shaft abuts against the second gasket through its shaft shoulder.

[0012] A backlash adjustment method, characterized in that it comprises the following steps:

[0013] S1. Rotate the first input gear to determine the meshing between the first input gear and the first output gear, and place a third gasket and a second gasket in the housing;

[0014] S2. Rotate the second input gear to determine the meshing of the second output gear and the second meshing gear, place the fifth gasket and the sixth gasket in the bearing and the first gasket on the shoulder of the second transmission shaft, and fine-tune the position between the second output gear and the second meshing gear;

[0015] S3. Rotate the meshing condition of the third input gear and the third output gear, and place a fourth gasket between the third input gear and the third output gear.

[0016] The beneficial effects of the present invention are:

[0017] A gasket is added to the wrist to fill the gap between the housing and the transmission part, making the contact between the teeth in the gear set more compact. Specifically, the side surfaces on the teeth are in contact with each other, and the position of the tooth meshing is centered. In this way, the side clearance in the gear set is eliminated, solving the problems of severe wear and abnormal noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a cross-sectional view of the present invention.

[0019] Description of the accompanying drawings: 1-first input gear; 2-first transmission shaft; 3-first output gear;

[0020] 4-first meshing gear; 5-first reduction gear; 6-second input gear; 7-second transmission shaft;

[0021] 8-second output gear; 9-second meshing gear; 10-third input gear; 11-second reduction gear;

[0022] 12-third output gear; 13-side arm; 14-joint; 15-flange; 16-housing; 100-first gasket;

[0023] 101-second gasket; 103-third gasket; 104-fourth gasket; 105-fifth gasket;

[0024] 106-sixth gasket. DETAILED DESCRIPTION

[0025] The wrist of an industrial robot supports the hand. The wrist is an important component of an articulated robot, connecting the arm and the end effector, and changing the posture of the end effector. The wrist has independent degrees of freedom, and the position of the workpiece can be adjusted or changed through the wrist so that the robot end effector can adapt to complex motion requirements.

[0026] The present invention adopts the transmission in the form of a reduction device and a gear set, integrating the two together to achieve the purpose of large speed ratio and high transmission accuracy. The gear device adopts imported standard gears to chase the processing interface size, which reduces the processing cost, shortens the project cycle, and meets the use requirements. At the same time, the modular design facilitates the adjustment of the gear side clearance and improves the assembly efficiency.

[0027] like Figure 1 As shown, the present invention relates to an industrial robot wrist transmission device, which consists of a first transmission part and a second transmission part. The first transmission part causes the second transmission part to perform a rotating reciprocating motion. It is characterized in that it also includes a plurality of gaskets. The first transmission part and the second transmission part are installed in a housing 16, and both include a plurality of gear sets. The gap formed by the first transmission part and the second transmission part in the housing 16 is filled with gaskets, so that the surfaces of the teeth in the gear sets contact each other when meshing.

[0028] A gasket is added to the wrist to fill the gap between the housing 16 and the transmission part, making the contact between the teeth in the gear set more compact. Specifically, the side surfaces on the teeth are in contact with each other, and the meshing position of the tooth surfaces is centered. In this way, the side clearance in the gear set is eliminated, solving the problems of severe wear and abnormal noise.

[0029] The first transmission part includes a first input gear 1, a first transmission shaft 2, a first output gear 3, a first meshing gear 4 and a first reduction gear 5. The first output gear 3 and the first meshing gear 4 are both bevel gears. The first input gear 1 and the first output gear 3 are rotated and installed in the housing 16 through double-row angular contact ball bearings and single-row deep groove ball bearings at both ends. The outer ring of the angular contact ball bearing is pressed by a flanged fixing bolt to ensure the axial position of the first input gear 1. The specific connection relationship is that the first input gear 1 is driven by the first output end, and the first output gear 3 is driven to rotate through the first transmission shaft 2. The first reduction gear 5 is driven by the first meshing gear 4, and the first reduction gear 5 drives the movable part to rotate, wherein a third gasket 102 is provided between the first meshing gear 4 and the first reduction gear 5.

[0030] The second transmission part also includes a second input gear 6, a second transmission shaft 7, a second output gear 8, a second meshing gear 9, a third input gear 10, a second reduction gear 11, and a third output gear 12. The second output gear 8 and the second meshing gear 9 are bevel gears meshing with each other, the third input gear 10 and the third output gear 12 are bevel gears meshing with each other, the second meshing gear 9 rotates coaxially with the third input gear 10, the second input gear 6 rotates the second output gear 8 through the second transmission shaft 7, the second meshing gear 9 is driven by the second output gear 8, drives the third input gear 10 to rotate, and makes the third output gear 12 drive the second reduction gear 11 to work, wherein bearings are installed on the second meshing gear 9 and the third input gear 10, and the sixth gasket 106 abutting against the second meshing gear 9 and the fifth gasket 105 abutting against the third input gear 10 are provided on the inner and outer sides of the bearings.

[0031] The housing 16 has a movable part, through which the first transmission part causes the second transmission part to perform a rotating reciprocating motion. The movable part is composed of a side arm 13 and a joint 14. One end of the side arm 13 is driven by the first reduction gear 5. The joint 14 supports the second meshing gear 9, the third input gear 10, the second reduction gear 11, and the third output gear 12. When the joint 14 moves, it is necessary to drive the second input gear 6, thereby compensating for the coupling motion of the joint 14 causing the third output gear 12 to move in a circle around the third input gear 10, thereby ensuring that each axis moves independently.

[0032] An output flange 15 is connected to the output end of the second reduction gear 11 .

[0033] It also includes a first gasket 100 and a second gasket 101. The first transmission shaft 2 and the second transmission shaft 7 are both provided with shaft shoulders. The first transmission shaft 2 abuts against the first gasket 100 through its shaft shoulder, and the second transmission shaft 7 abuts against the second gasket 101 through its shaft shoulder.

[0034] 1. The specific installation process of the present invention is as follows: the first output gear 3 and the first input gear 1 are rigidly connected to the first transmission shaft 2 respectively, and are rotated and installed at appropriate positions in the housing 16 through the double-row angular contact ball bearings and the single-row deep groove ball bearings at both ends, and the outer ring of the angular contact ball bearing is pressed by the flange fixing bolts to ensure the axial position of the first transmission shaft 2;

[0035] 2. Rotate the first output end to determine the meshing condition of the inner bevel gear of the first transmission part, adjust the side clearance through the second gasket 101 and the third gasket 102, eliminate the gear side clearance, and achieve high transmission precision;

[0036] 3. Fix the side arm 13 to the first reduction gear 5 and rigidly connect the joint 14;

[0037] 4. The third output gear 12 and the second reduction gear 11 are rigidly connected and fixed on the joint 14 as a module;

[0038] 5. The third input gear 10 and the second meshing gear 9 are rigidly connected and rotatably fixed on the joint 14 via a double-row angular contact ball bearing;

[0039] 6. Rotate the second output end to confirm the meshing condition of the inner bevel gear of the second transmission part, and adjust the gear side clearance through the fourth gasket 104, the fifth gasket 105, and the sixth gasket 106 to achieve high-precision transmission;

[0040] 7. The second input gear 6 and the second output gear 8 are rigidly connected to the second transmission shaft 7, and are rotatably fixed in the housing 16 through a double-row angular contact ball bearing and a single-row deep groove ball bearing, and the outer ring of the angular contact ball bearing is pressed by a flanged fixing bolt to ensure the axial position of the second transmission shaft 7;

[0041] 8. Turn the second output end to confirm the meshing condition of the inner bevel gear of the second transmission part, and adjust the side clearance through the first gasket 100 to ensure high-precision transmission.

[0042] The present invention mainly achieves this by meshing the first output end (not shown in the figure) with the first input gear 1, transmitting to the first output gear 3, and transmitting to the first reduction device 5 with the first meshing gear 4, thereby driving the side arm 13 and the joint 14 to swing; similarly, the second output end (not shown) meshes with the second input gear 6, transmitting to the second output gear 8, which transmits to the third input gear 10 with the second meshing gear 9, meshes with the third output gear 12, and transmits to the second reduction device 11, thereby driving the workpiece (not shown in the figure) connected to the end flange 15 to rotate.

[0043] The wrist device achieves the expected transmission effect through the above transmission scheme, and adopts high-precision standard ground gears for additional processing to achieve higher transmission accuracy. It has low meshing noise and high precision, which improves the absolute positioning accuracy of the whole machine.

[0044] It should be noted that the design of the wrist needs to support the end effector to achieve free rotation of three spatial coordinates. RBR, that is, rotation axis + swing axis + rotation axis, the rotation center lines of the wrist are perpendicular to each other and can correspond to the spatial coordinate system. It is simple to operate, easy to control, compact in structure, and flexible in movement. It is a common wrist structure for six-axis serial robots. According to the structure, there are front-drive RBR wrist structure and rear-drive RBR wrist structure. Front-drive RBR wrist structure: the motor is placed in the inner cavity of the upper arm. Rear-drive RBR wrist structure: the motor is placed behind joint 14.

[0045] In the present invention, both the first output end and the second output end are driven by a motor and are placed behind the joint 14. In addition to meeting the wrist rotation requirements, there is no need to consider issues such as wiring, thereby reducing load inertia and making wrist movements more sensitive.

[0046] It should be noted that the thickness of the gasket needs to be adjusted according to the gear meshing conditions. Once determined, the value should be recorded and used in subsequent mass production.

[0047] The above implementation modes are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering and technical personnel in the field shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An industrial robot wrist transmission device, consisting of a first transmission part and a second transmission part, wherein the first transmission part causes the second transmission part to perform a rotating reciprocating motion, characterized in that: Also included are a plurality of gaskets, the first transmission part and the second transmission part are mounted in the housing, and both include a plurality of gear sets, the gap formed by the first transmission part and the second transmission part in the housing is filled with the gaskets, so that the surfaces of the teeth in the gear sets contact each other when meshing; The first transmission part includes a first meshing gear, a first reduction gear and a first transmission shaft, and a third gasket is provided between the first meshing gear and the first reduction gear; The second transmission part includes a second meshing gear, a third input gear, a third output gear and a second transmission shaft, bearings are installed on the second meshing gear and the third input gear, a sixth gasket abutting against the second meshing gear and a fifth gasket abutting against the third input gear are arranged inside and outside the bearing, and a fourth gasket is placed between the third input gear and the third output gear; It also includes a first gasket and a second gasket. The first transmission shaft abuts against the first gasket, and the second transmission shaft abuts against the second gasket.

2. An industrial robot wrist transmission device according to claim 1, characterized in that: The housing has a movable part, through which the first transmission part causes the second transmission part to perform a rotating reciprocating motion.

3. An industrial robot wrist transmission device according to claim 2, characterized in that: The second transmission part has a plurality of sets of bevel gears meshing with each other.

4. An industrial robot wrist transmission device according to claim 2 or 3, characterized in that: The first transmission part also includes a first input gear and a first output gear. The first output gear and the first meshing gear are both bevel gears. The first input gear drives the first output gear to rotate through the first transmission shaft. The first reduction device is driven by the first meshing gear and is driven to rotate.

5. The industrial robot wrist transmission device according to claim 4, characterized in that: The second transmission part also includes a second input gear, a second output gear, and a second reduction gear. The second output gear and the second meshing gear are bevel gears meshing with each other. The third input gear and the third output gear are bevel gears meshing with each other. The second meshing gear rotates coaxially with the third input gear. The second input gear rotates the second output gear through the second transmission shaft. The second meshing gear is driven by the second output gear, driving the third input gear to rotate, so that the third output gear drives the second reduction gear to work.

6. The industrial robot wrist transmission device according to claim 5, characterized in that: The output end of the second reduction device is connected with an output flange.

7. The industrial robot wrist transmission device according to claim 5, characterized in that: The first transmission shaft and the second transmission shaft are both provided with shaft shoulders. The first transmission shaft abuts against the first gasket through its shaft shoulders, and the second transmission shaft abuts against the second gasket through its shaft shoulders.

8. A method for adjusting the backlash of an industrial robot wrist transmission device using the method of claim 7, characterized in that: The following steps are involved: S1. Rotate the first input gear to determine the meshing between the first input gear and the first output gear, and place a third gasket and a second gasket in the housing; S2. Rotate the second input gear to determine the meshing of the second output gear and the second meshing gear, place the fifth gasket and the sixth gasket in the bearing and the first gasket on the shoulder of the second transmission shaft, and fine-tune the position between the second output gear and the second meshing gear; S3. Rotate the meshing condition of the third input gear and the third output gear, and place a fourth gasket between the third input gear and the third output gear.

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