Heavy-duty industrial robot and a method for calculating a gap adjustment

Abstract

The present application relates to a kind of heavy load industrial robot and gap adjustment calculation method.The gap adjustment calculation method of a kind of heavy load industrial robot described in the present application includes the following steps:S1: provide heavy load industrial robot;S2: obtain the meshing angle and pressure angle of input bevel gear;S3: calculate the normal force generated at the tooth surface width midpoint on the pitch cone surface of input bevel gear;S4: according to meshing angle, pressure angle and normal force, calculate the axial force generated on the tooth surface of input bevel gear;S5: calculate the first compression length of compression spring;S6: according to axial force and first compression length, select the compression spring with appropriate elastic coefficient k and original length, so that the first elastic force generated by compression spring is greater than or equal to the axial force of shaft tooth.The five-sixth axis structure and gap adjustment calculation method of a kind of heavy load industrial robot described in the present application have the advantages of simple debugging, convenient maintenance and high running stability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a heavy-load industrial robot and a gap adjustment calculation method. BACKGROUND

[0002] In the field of heavy-load robots, in order to reduce the load rate of the motor of the arm part, the fourth, fifth and sixth axes generally adopt a motor rear mounting structure to reduce the weight of the robot end, so the fifth and sixth axes adopt bevel gear structures for transmission. Since the bevel gear transmission components involve many structural parts, the cumulative deviation of processing and assembly is large, which cannot meet the precision requirements of bevel gear transmission. Moreover, the related workpieces of the heavy-load robot are large and heavy, and the processing precision is difficult to guarantee, which leads to poor matching precision of the bevel gear structure, and it is easy to cause the bevel gear to be dead due to too small bevel gear matching gap, and the bevel gear transmission has a gap problem due to too large bevel gear matching gap. The traditional fifth and sixth axis structures need to use gaskets in multiple forms to compensate for the deviation caused by processing. For example, the transmission gap between the input shaft and the output shaft needs to be adjusted by the thickness of the precise gasket. During adjustment, repeated disassembly and testing are required, and maintenance is still required after loosening in the later period. Therefore, the traditional gasket adjustment method has the defects of complicated early adjustment and inconvenient later maintenance. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a heavy-load industrial robot and a gap adjustment calculation method, which adjusts the transmission gap between the power output end and the power input end by setting a compression spring at the power input end, and ensures the stability of the compression spring during operation by calculating and selecting the compression spring, thereby avoiding the occurrence of tooth skipping and having the advantages of simple debugging, convenient maintenance and high running stability.

[0004] The present application is realized by the following scheme:

[0005] In a first aspect, the present application provides a fifth and sixth axis structure of a heavy-load industrial robot, which comprises a fifth axis body, a sixth axis body, a power output end and a power input end. The power output end is arranged in the sixth axis body, the power input end is arranged in the fifth axis body, the power output end and the power input end are connected, and the power output end drives the power input end.

[0006] The power output end is provided with an output bevel gear, the power input end is provided with an input bevel gear, the power output end and the power input end are meshed and transmitted through the output bevel gear and the input bevel gear, and the power input end is provided with a compression spring for adjusting the transmission gap between the output bevel gear and the input bevel gear.

[0007] The power input end comprises a five-axis input mechanism and a six-axis input mechanism, the power output end comprises a five-axis output mechanism and a six-axis first output mechanism; the five-axis input mechanism comprises a five-axis input shaft and a five-axis compression spring, the five-axis output mechanism comprises a five-axis output shaft, the five-axis compression spring is sleeved on the five-axis input shaft, and the five-axis compression spring is used for adjusting a transmission gap between the five-axis input shaft and the five-axis output shaft;

[0008] The six-axis input mechanism comprises a six-axis input shaft and a six-axis compression spring, the six-axis first output mechanism comprises a six-axis output shaft, the six-axis compression spring is sleeved on the six-axis input shaft, and the six-axis compression spring is used for adjusting a transmission gap between the six-axis input shaft and the six-axis output shaft.

[0009] In a second aspect, the application further provides a calculation method for gap adjustment of a heavy-load industrial robot, comprising the following steps:

[0010] S1: providing the heavy-load industrial robot according to the first aspect;

[0011] S2: obtaining an engagement angle δ1 and a pressure angle α1 of an input bevel gear;

[0012] S3: calculating a normal force F t1 generated by the input bevel gear at a tooth surface width midpoint on a pitch cone surface;

[0013] S4: calculating an axial force F1 generated on a tooth surface of the input bevel gear according to the engagement angle δ1, the pressure angle α1 and the normal force F t1 ;

[0014] S5: calculating a first compression length L1 of the compression spring;

[0015] S6: selecting a compression spring with a proper elastic coefficient k and an original length L0 according to the axial force F1 and the first compression length L1, so that a first elastic force F 弹1 generated by the compression spring is greater than or equal to the axial force F1 of the shaft tooth.

[0016] Further, step S3 further comprises the following steps:

[0017] S31: obtaining a tooth number z1 and a module m1 of the input bevel gear, and an average load torque T1 of a normal load of a tooth shaft;

[0018] S32: calculating the normal force F t1 generated by the input bevel gear at the tooth surface width midpoint on the pitch cone surface according to the tooth number z1, the module m1 and the torque T1.

[0019] Further, step S5 further comprises the following steps:

[0020] S51: measure the error value of the output bevel gear in the axial position;

[0021] S52: calculate the first compression length L1 of the compression spring according to the error value and the meshing angle δ1.

[0022] Further, the normal force F in step S32 is calculated using the following formula t1 :

[0023]

[0024] Wherein, θ k is 1 / 3.

[0025] Further, the axial force F1 in step S4 is calculated using the following formula

[0026]

[0027] Further, the first elastic force F in step S6 is calculated using the following formula 弹1 :

[0028] F 弹1 =k(L0-L1).

[0029] Further, when the robot is impacted, the following steps are further included:

[0030] S71, obtain the second compression length L2 of the compression spring when impacted;

[0031] S72, calculate the second elastic force F generated by the selected compression spring when impacted 弹2 , to ensure that the second elastic force F when impacted 弹2 is greater than or equal to the axial force F1 of the shaft gear.

[0032] Further, in order to avoid gear skipping when the power input end is impacted, the following steps are further included:

[0033] The difference between the first compression length L1 and the second compression length L2 is less than 1mm.

[0034] Further, the second elastic force F in step S72 is calculated using the following formula 弹2 :

[0035] F 弹2 =k(L0-L2).

[0036] The five-six axis structure of a heavy load industrial robot and the gap adjustment calculation method have the following beneficial effects:

[0037] 1. The five-axis input mechanism and the six-axis input mechanism adopt an integrated structure design, the five-axis input mechanism and the six-axis input mechanism check the size of the five-axis output mechanism and the six-axis first output mechanism before assembly, the five-axis gap adjusting assembly and the six-axis gap adjusting assembly are adjusted at the same time, the gaps of the five-axis and the six-axis are adjusted synchronously, and the five-axis and the six-axis have the advantages that debugging is simple.

[0038] 2. The transmission gap between the five-axis and the six-axis is adjusted by using elastic members to push the five-axis input gear shaft and the six-axis input gear shaft, as long as the elastic members are calculated and selected, the transmission gap can be adjusted before assembly, the transmission gap does not need to be repeatedly disassembled and debugged by using gaskets, and the debugging after assembly is more convenient.

[0039] 3. If the structure is loosened during subsequent use, the gap and the elastic force of the elastic member are changed, the five-axis adjusting rod pushes the gear teeth of the five-axis adjusting member through the first opening A, or the six-axis adjusting rod pushes the gear teeth of the six-axis adjusting member through the second opening, and the transmission gap and the tensioning force of the elastic member can be adjusted, so that the structure has the advantages that maintenance is convenient.

[0040] 4. The compression spring is used as the five-axis elastic member and the six-axis elastic member, when a large impact occurs at the end of the robot, the spring is compressed, the gear directly has a small angle displacement buffer, the hard impact of the gear and other workpieces is reduced, and the service life is increased.

[0041] 5. The axial force F1 generated on the bevel gear tooth surface during normal load operation is calculated through data calculation of the bevel gear, the compression spring with appropriate elastic coefficient k and original length L0 is selected according to the axial force F1, the first elastic force F 弹1 of the compression spring is greater than or equal to the axial force F1 of the shaft gear, so that the gear shaft is always pushed and maintained by the first elastic force F 弹1 of the compression spring greater than the axial force F1 during operation, the gear shaft is maintained to operate without using gaskets to adjust the gap of the gear shaft, and the operation stability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a front view of the five-axis and six-axis structure of the heavy-load industrial robot of the embodiment of the application.

[0043] Figure 2 It is a back view of the five-axis and six-axis structure of the heavy-load industrial robot of the embodiment of the application.

[0044] Figure 3 It is an internal structure diagram of the five-axis and six-axis structure of the heavy-load industrial robot of the embodiment of the application.

[0045] Figure 4Internal structure sectional view of five-six axis structure of heavy load industrial robot of embodiment of the present application.

[0046] Figure 5 Selection flow chart of calculation method of gap adjustment of heavy load industrial robot of embodiment of the present application.

[0047] Figure 6 Normal force calculation flow chart of calculation method of gap adjustment of heavy load industrial robot of embodiment of the present application.

[0048] Figure 7 First compression length calculation flow chart of calculation method of gap adjustment of heavy load industrial robot of embodiment of the present application.

[0049] Figure 8 Impact time selection flow chart of calculation method of gap adjustment of heavy load industrial robot of embodiment of the present application.

[0050] Reference numerals: five-axis body 100, bearing fixing plate 110, first cover plate 120, second cover plate 130, first opening 100A, second opening 100B, six-axis body 200;

[0051] Five-axis input mechanism 300, five-axis input shaft 310, first bevel gear 311, five-axis gap adjustment assembly 320, five-axis compression spring 321, five-axis locking nut 322, five-axis adjustment rod 323, five-axis adjustment gear 324, five-axis bearing 330;

[0052] Six-axis input mechanism 400, six-axis input shaft 410, third bevel gear 411, six-axis gap adjustment assembly 420, six-axis compression spring 421, six-axis locking nut 422, six-axis adjustment rod 423, six-axis adjustment gear 424, six-axis bearing 430;

[0053] Five-axis output mechanism 500, five-axis output shaft 510, second bevel gear 511, five-axis speed reducer 520;

[0054] Six-axis first output mechanism 600, six-axis speed reducer 610, fourth bevel gear 611, six-axis transition shaft 620, fifth bevel gear 621, gear assembly 630, six-axis output shaft 640, sixth bevel gear 641. DETAILED DESCRIPTION

[0055] The following is a specific embodiment of the present application and further describes the technical solutions of the present application in conjunction with the drawings, but the present application is not limited to these embodiments.

[0056] It should be noted that the embodiments described are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the diagrams, not the number, shape and size of the components when actually implemented. The actual implementation of each component may be a random change, and the component layout may be more complex.

[0058] To solve the technical problems in the background art, in a first aspect, the present application provides a five-six-axis structure of a heavy-load industrial robot, as shown in Figure 1 and Figure 3 , comprising a five-axis body 100, a six-axis body 200, a power output end and a power input end, the power output end is arranged in the six-axis body 200, the power input end is arranged in the five-axis body 100, the power output end and the power input end are connected, and the power output end drives the power input end.

[0059] The power output end is provided with an output bevel gear, the power input end is provided with an input bevel gear, the power output end and the power input end are driven through the meshing of the output bevel gear and the input bevel gear, and the power input end is provided with a compression spring for adjusting the transmission gap between the output bevel gear and the input bevel gear.

[0060] Specifically, the power input end comprises a five-axis input mechanism 300 and a six-axis input mechanism 400, the power output end comprises a five-axis output mechanism 500 and a six-axis first output mechanism 600, the five-axis output mechanism 500 and the six-axis first output mechanism 600 are arranged on both sides of the six-axis body 200, the five-axis body 100 is arranged between the five-axis output mechanism 500 and the six-axis first output mechanism 600, the five-axis input mechanism 300 and the six-axis input mechanism 400 are rotatably arranged in the five-axis body 100, the five-axis input mechanism 300 is sleeved on the six-axis input mechanism 400, the five-axis input mechanism 300 drives the five-axis output mechanism 500, and the six-axis input mechanism 400 drives the six-axis first output mechanism 600.

[0061] As shown in Figure 3 and Figure 4As shown, the five-axis input mechanism 300 includes a five-axis input gear shaft 310 and a five-axis gap adjusting assembly 320, the six-axis input mechanism 400 includes a six-axis input gear shaft 410 and a six-axis gap adjusting assembly 420, the five-axis output mechanism 500 includes a five-axis output gear shaft 510, the six-axis first output mechanism 600 includes a six-axis output gear shaft 610, and the five-axis gap adjusting assembly 320 is used to adjust the transmission gap between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, and the six-axis gap adjusting assembly 420 is used to adjust the transmission gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610.

[0062] The five-six axis structure of the heavy-load industrial robot described in the embodiment is that the five-axis input mechanism 300 in the five-axis body 100 transmits power to drive the five-axis output mechanism 500 on one side of the six-axis body 200, and the six-axis input mechanism 400 in the five-axis body 100 transmits power to drive the six-axis first output mechanism 600 on the other side of the six-axis body 200, wherein the five-axis input mechanism 300 in the five-axis body 100 is sleeved on the six-axis input mechanism 400 to form an integrated body. Specifically, power transmission between the five-axis input mechanism 300 and the five-axis output mechanism 500, and between the six-axis input mechanism 400 and the six-axis first output mechanism 600 can be achieved through gear transmission or the like, that is, the five-axis output gear shaft 510 and the five-axis input gear shaft 310, and the six-axis output gear shaft 610 and the six-axis input gear shaft 410 have a certain transmission gap. In order to adjust the transmission gap, the five-axis gap adjusting assembly 320 and the six-axis gap adjusting assembly 420 are arranged on the five-axis input gear shaft 310 to adjust the gap.

[0063] The five-six axis structure of the heavy-load industrial robot described in the embodiment is that the five-axis input mechanism 300 and the six-axis input mechanism 400 adopt an integrated structure design, the five-axis input mechanism 300 and the six-axis input mechanism 400 check the size of the five-axis output mechanism 500 and the six-axis first output mechanism 600 before assembly, and the five-six axis gap is adjusted simultaneously by adjusting the five-axis gap adjusting assembly 320 and the six-axis gap adjusting assembly 420, which has the advantage of simple debugging.

[0064] Specifically, as shown in FIG. 4, the five-axis gap adjusting assembly 320 includes a five-axis gap adjusting screw 321 and a five-axis gap adjusting nut 322, and the six-axis gap adjusting assembly 420 includes a six-axis gap adjusting screw 421 and a six-axis gap adjusting nut 422. Figure 3 and Figure 4As shown, the five-axis input shaft 310 is provided with a first bevel gear 311 at one end close to the five-axis output mechanism 500. The five-axis output mechanism 500 further comprises a five-axis speed reducer 520, one end of the five-axis output shaft 510 is connected to the output end of the five-axis speed reducer 520, and the other end is provided with a second bevel gear 511, the five-axis input shaft 310 and the five-axis output shaft 510 are vertically arranged, and the first bevel gear 311 and the second bevel gear 511 are in meshing transmission. Since the five-axis input mechanism 300 and the five-axis output mechanism 500 are connected through gear transmission, the first bevel gear 311 is arranged at one end, the five-axis output shaft 510 is provided with the second bevel gear 511 meshing therewith, the five-axis input shaft 310 drives the five-axis output shaft 510 to rotate, thereby transmitting power from the five-axis output shaft 510 to the five-axis speed reducer 520.

[0065] Further, as shown in Figure 3 and Figure 4 As shown, the six-axis input shaft 410 is provided with a third bevel gear 411 at one end close to the six-axis first output mechanism 600; the six-axis input shaft 410 and the six-axis output shaft 610 are vertically arranged, and one end of the six-axis output shaft 610 is provided with a sixth bevel gear 611 in meshing transmission with the third bevel gear 411. Further comprising a gear assembly 700 and a six-axis second output mechanism 800, the six-axis second output mechanism 800 comprises a six-axis speed reducer 810 and a six-axis transition shaft 820, the six-axis output shaft 610 is connected to the gear assembly 700 at one end relative to the sixth bevel gear 611, the gear assembly 700 is further connected to one end of the six-axis transition shaft 820, the other end of the six-axis transition shaft 820 is provided with a fifth bevel gear 821, the fifth bevel gear 821 is in meshing transmission with the fourth bevel gear 811 provided on the six-axis speed reducer 810. Since the six-axis input mechanism 400 and the six-axis first output mechanism 600 are connected through gear transmission, the third bevel gear 411 is arranged at one end of the six-axis input shaft 410, the sixth bevel gear 611 is arranged on the six-axis output shaft 610 and meshes with the six-axis output shaft 610, and the gear assembly 700 and the six-axis transition shaft 820 are arranged between the six-axis output shaft 610 and the six-axis speed reducer 810, thereby transmitting power from the six-axis output shaft 610 to the six-axis speed reducer 810.

[0066] In order to fix the five-axis input mechanism 300 and the six-axis input mechanism 400 in the five-axis body 100, as shown in Figure 3 and Figure 4As shown, the five-axis body 100 is fixedly provided with a bearing fixing plate 110, two five-axis bearings 330 are clamped in the bearing fixing plate 110, and the five-axis input gear shaft 310 is slidably clamped in the inner ring of the five-axis bearing 330. The five-axis input gear shaft 310 is a hollow through structure, two six-axis bearings 430 are clamped in the hollow cavity of the five-axis input gear shaft 310, and the six-axis input gear shaft 410 is slidably arranged through the inner ring of the six-axis bearing 430. By arranging the bearing fixing plate 110 in the five-axis body 100, then clamping the five-axis bearing 330 in the bearing fixing plate 110, the five-axis input gear shaft 310 is limited in position by passing through the five-axis bearing 330, and the six-axis bearing 430 is arranged in the hollow cavity of the five-axis input gear shaft 310, and the six-axis input gear shaft 410 is limited in position by passing through the six-axis bearing 430.

[0067] In order to more conveniently adjust the gap between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, as shown in Figure 3 and Figure 4 As shown, the five-axis gap adjusting assembly 320 includes a five-axis elastic member 321 and a five-axis adjusting member 322. The five-axis elastic member 321 is arranged between the first bevel gear 311 and the five-axis bearing 330, one end of the five-axis elastic member 321 abuts against the five-axis bearing 330, and the other end abuts against the first bevel gear 311. The other five-axis bearing 330 is provided with the five-axis adjusting member 322 on the side away from the first bevel gear 311, and the five-axis adjusting member 322 is screwed on the five-axis input gear shaft 310. By arranging the five-axis elastic member 321 between the first bevel gear 311 and the five-axis bearing 330, the five-axis elastic member 321 generates a pushing force on the five-axis input gear shaft 310 towards the five-axis output gear shaft 510, and the five-axis adjusting member 322 is arranged at the other end of the five-axis input gear shaft 310 and abuts against the five-axis bearing 330 to limit the limit distance between the five-axis input gear shaft 310 and the five-axis output gear shaft 510. Among them, the five-axis elastic member 321 is selected by calculation, so that the elastic force generated by the five-axis elastic member 321 is the same as the axial force generated when the five-axis input gear shaft 310 rotates, thereby maintaining the gap between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, and avoiding phenomena such as tooth impact or tooth slip.

[0068] Further, in order to more conveniently adjust the gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610, as shown in Figure 3 and Figure 4As shown, the six-axis gap adjusting assembly 420 includes a six-axis elastic member 421 and a six-axis adjusting member 422. The six-axis elastic member 421 is arranged between the third bevel gear 411 and the six-axis bearing 430, and one end of the six-axis elastic member 421 abuts against the six-axis bearing 430, and the other end abuts against the third bevel gear 411. The other six-axis bearing 430 is arranged on the side away from the third bevel gear 411, and the six-axis adjusting member 422 is arranged on the six-axis input gear shaft 410 through screwing. By arranging the six-axis elastic member 421 between the third bevel gear 411 and the six-axis bearing 430, the six-axis elastic member 421 generates a pushing force to the six-axis input gear shaft 410 towards the six-axis output gear shaft 610, and the six-axis adjusting member 422 is arranged on the other end of the six-axis input gear shaft 410, and abuts against the six-axis bearing 430 to limit the limit gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610. The six-axis elastic member 421 is selected by calculation, so that the elastic force generated by the six-axis elastic member 421 is the same as the axial force generated when the six-axis input gear shaft 410 rotates, thereby maintaining the gap between the six-axis input gear shaft 410 and the six-axis output gear shaft 610, and avoiding the phenomenon of tooth collision or tooth slip.

[0069] The five-six-axis structure of the heavy-load industrial robot disclosed in the embodiments of the present application adjusts the transmission gap between the five-six-axes by using the elastic member to push the five-axis input gear shaft 310 and the six-axis input gear shaft 410. As long as the elastic member is selected by calculation, the transmission gap can be adjusted before assembly, and there is no need to use shims for repeated disassembly and debugging.

[0070] Preferably, as shown in the figure, Figure 2 to Figure 4 As shown, the five-axis gap adjusting assembly 320 further includes a five-axis adjusting rod 323. The outer surface of the five-axis adjusting member 322 is provided with teeth, and the five-axis adjusting member 322 is provided with a machine screw for locking. The five-axis body 100 is provided with a first opening hole 100A, and the five-axis adjusting rod 323 can abut against the teeth of the five-axis adjusting member 322 through the first opening hole 100A. By opening the first opening hole 100A on the five-axis body 100, then loosening the machine screw of the five-axis adjusting member 322, and using the five-axis adjusting rod 323 to push the five-axis adjusting member 322 to rotate through the first opening hole 100A, the five-axis adjusting member 322 is moved to adjust the limit position of the five-axis input gear shaft 310, and then the machine screw of the five-axis adjusting member 322 is locked to complete the adjustment of the transmission gap and the tension of the elastic member.

[0071] Preferably, as shown in the figure, Figure 2 to Figure 4As shown, the six-axis gap adjusting assembly 420 further comprises a six-axis adjusting rod 423, the outer surface of the six-axis adjusting piece 422 is provided with a tooth, and the six-axis adjusting piece 422 is provided with a machine screw for locking. The five-axis body 100 is provided with a second opening hole 100B, and the six-axis adjusting rod 423 can abut against the tooth of the six-axis adjusting piece 422 through the second opening hole 100B. By opening the second opening hole 100B on the five-axis body 100, then loosening the machine screw of the six-axis adjusting piece 422, and then using the six-axis adjusting rod 423 to push the six-axis adjusting piece 422 to rotate through the second opening hole 100B, the six-axis adjusting piece 422 is moved to adjust the limited position of the six-axis input gear shaft 410, and then the machine screw of the six-axis adjusting piece 422 is locked to complete the adjustment of the transmission gap and the tension of the elastic member.

[0072] The five-six axis structure of the heavy-load industrial robot described in the embodiment of the present application can adjust the transmission gap and the tension of the elastic member without disassembling the structure when the structure is loosened during subsequent use, causing the gap and the elastic force of the elastic member to change. The five-axis adjusting rod 323 is used to push the tooth of the five-axis adjusting piece 322 through the first opening hole 100A, or the six-axis adjusting rod 423 is used to push the tooth of the six-axis adjusting piece 422 through the second opening hole 100B, thereby completing the adjustment of the transmission gap and the tension of the elastic member, which has the advantage of convenient maintenance.

[0073] Preferably, as shown in the figure, Figure 2 to Figure 4 As shown, the five-axis body 100 is further provided with a first opening and a second opening, the first opening and the second opening are arranged corresponding to the five-axis adjusting piece 322 and the six-axis adjusting piece 422, and the first opening and the second opening are respectively covered with a first cover plate 120 and a second cover plate 130. By opening the first opening and the second opening, the internal condition of the five-axis body 100 can be observed conveniently when the gap is adjusted by the five-axis adjusting rod 323 and the six-axis adjusting rod 423 in subsequent use.

[0074] Preferably, the five-axis elastic member 321 is a first compression spring, the first compression spring is sleeved between the first bevel gear 311 and the five-axis bearing 330, one end of the first compression spring abuts against the five-axis bearing 330, and the other end of the first compression spring abuts against the first bevel gear 311. The six-axis elastic member 421 is a second compression spring, the second compression spring is sleeved between the third bevel gear 411 and the six-axis bearing 430, one end of the second compression spring abuts against the six-axis bearing 430, and the other end of the second compression spring abuts against the third bevel gear 411. Using a compression spring as the five-axis elastic member 321 and the six-axis elastic member 421, when a large impact occurs at the end of the robot, the spring is compressed, the gear directly undergoes a small angle displacement buffer, the hard impact of the gear and other workpieces is reduced, and the service life is increased.

[0075] On the other hand, this application also provides a calculation method for the clearance adjustment of a heavy-duty industrial robot, which is the industrial robot described in the above embodiments. It adjusts the transmission clearance between the power output end and the power input end by setting a compression spring at the power input end. This method ensures the stability of the clearance maintained by the compression spring during operation through calculation and selection of the compression spring. Figure 5 As shown, the method includes the following steps:

[0076] S1: Provide a heavy-duty industrial robot as described in the above embodiments;

[0077] S2: Obtain the meshing angle δ1 and pressure angle α1 of the input bevel gear;

[0078] S3: Calculate the normal force F generated by the input bevel gear at the midpoint of the tooth width on the pitch cone surface. t1 ;

[0079] S4: Based on the meshing angle δ1, pressure angle α1, and normal force F t1 Calculate the axial force F1 generated on the tooth surface of the input bevel gear;

[0080] S5: Calculate the first compression length L1 of the compression spring;

[0081] S6: Select a compression spring with a suitable elastic coefficient k and original length L0 based on the axial force F1 and the first compression length L1, so that the compression spring generates the first elastic force F 弹1 The axial force F1 is greater than or equal to that of the shaft teeth.

[0082] This embodiment describes a method for calculating the clearance adjustment of a heavy-duty industrial robot. It calculates the axial force F1 generated on the tooth surface of the bevel gear during normal load-bearing operation using data from the bevel gear. Based on the axial force F1, a compression spring with a suitable elastic coefficient k and original length L0 is selected, causing the compression spring to generate a first elastic force F... 弹1 The axial force F1 is greater than or equal to the axial force on the gear teeth, so that the gear shaft is always subjected to the first elastic force F of the compression spring, which is greater than the axial force F1, during operation. 弹1 By pushing to maintain the clearance of the transmission, the gear shaft can be kept running without using shims to reduce the clearance, which has the advantage of improving operational stability.

[0083] Specifically, such as Figure 6 As shown, step S3 further includes the following step: calculating the normal force F generated by the input bevel gear at the midpoint of the tooth width on the pitch cone surface. t1 :

[0084] S31: Obtain the number of teeth z1 and module m1 of the input bevel gear, as well as the average load torque T1 of the gear shaft under normal load;

[0085] S32: calculating the normal force F generated by the input bevel gear at the tooth surface width midpoint on the pitch cone surface according to the number of teeth z1, the module m1 and the torque T1 t1 .

[0086] By acquiring the number of teeth z1, the module m1 and the torque T1, the normal force F generated by the input bevel gear at the tooth surface width midpoint on the pitch cone surface is calculated t1 .

[0087] Specifically, as shown in Figure 7 , step S5 further comprises the following steps for calculating the first compression length L1 of the compression spring:

[0088] S51: measuring the error value of the output bevel gear in the axial position;

[0089] S52: calculating the first compression length L1 of the compression spring according to the error value and the engagement angle δ1.

[0090] Since the output bevel gear has errors in the machining process, the axial position of the input bevel gear engaged with it cannot be determined, so it is necessary to measure the error value of the output bevel gear in the axial position, and according to the positional relationship between the input bevel gear and the output bevel gear, the error value and the engagement angle δ1 are used to calculate the first compression length L1 of the compression spring.

[0091] Preferably, the normal force F in step S32 is calculated using the following formula t1 :

[0092]

[0093] Wherein, θ k in the formula takes the value of 1 / 3. z1 is the number of teeth acquired in step S31, m1 is the module acquired in step S31, and T1 is the average load torque of the normal load shaft acquired in step S31.

[0094] Preferably, the axial force F1 in step S4 is calculated using the following formula

[0095]

[0096] Wherein, α1 is the pressure angle acquired in step S1, and δ1 is the engagement angle of the input bevel gear acquired in step S1. The first elastic force F 弹1 in step S6 is calculated using the following formula

[0097] F 弹1 = k (L0-L1).

[0098] Wherein, k is the elastic coefficient of the selected compression spring, and L0 is the original length of the selected compression spring.

[0099] In a preferred embodiment, as shown in the figure, when the robot is impacted, the input gear shaft will be displaced due to the impact. In order to protect the compression spring from being damaged when impacted, the following step is further included: Figure 8

[0100] S71, obtaining a second compression length L2 of the compression spring when impacted;

[0101] S72, calculating a second elastic force F 弹2 of the selected compression spring when impacted. 弹2

[0102] Wherein, the second compression length L2 can be obtained through experiments according to the maximum impact force that the robot can withstand, and then the second elastic force F 弹2 is calculated to ensure that the second elastic force F 弹2 when impacted is greater than or equal to the axial force F1 of the shaft gear.

[0103] Preferably, in order to avoid gear skipping when the power input end is impacted, the following step is further included:

[0104] The difference between the first compression length L1 and the second compression length L2 is less than 1mm. If the compression amount of the spring when impacted is too different from the compression amount under normal conditions, gear skipping may occur, which can be avoided by limiting the compression rate when impacted.

[0105] Preferably, the second elastic force F 弹2 in step S72 is calculated using the following formula:

[0106] F 弹2 =k(L0-L2).

[0107] Wherein, L2 is the second compression length of the compression spring when impacted.

[0108] The five-six axis structure of the heavy-load industrial robot described in the embodiments of the present application has the following beneficial effects:

[0109] 1. The five-axis input mechanism 300 and the six-axis input mechanism 400 adopt an integrated structure design. Before assembly, the five-axis input mechanism 300 and the six-axis input mechanism 400 check the size of the five-axis output mechanism 500 and the six-axis first output mechanism 600, and simultaneously adjust the five-axis gap adjusting assembly 320 and the six-axis gap adjusting assembly 420 to synchronously adjust the gap of the five-six axes, which has the advantage of simple debugging. ​​

[0110] 2. By using elastic elements to drive the five-axis input gear shaft 310 and the six-axis input gear shaft 410, the transmission clearance between the five and six axes can be adjusted. As long as the elastic elements are calculated and selected, the transmission clearance can be adjusted before installation without the need for repeated disassembly and adjustment using shims, making the adjustment after assembly more convenient.

[0111] 3. If the structure becomes loose during subsequent use, causing changes in the clearance and elasticity of the elastic element, there is no need to disassemble the structure. The transmission clearance and tension of the elastic element can be adjusted by using the five-axis adjusting rod 323 to push the teeth of the five-axis adjusting component 322 through the first opening 100A, or by using the six-axis adjusting rod 423 to push the teeth of the six-axis adjusting component 422 through the second opening 100B. This has the advantage of convenient maintenance.

[0112] 4. Compression springs are used as the five-axis elastic element 321 and the six-axis elastic element 421. When a large impact occurs at the end of the robot, the spring is compressed, and the gear directly undergoes a small-angle displacement to buffer the impact, reducing the hard impact on the gear and other workpieces and increasing the service life.

[0113] 5. Calculate the axial force F1 generated on the tooth surface of the bevel gear during normal load operation using the bevel gear data. Based on the axial force F1, select a compression spring with a suitable elastic coefficient k and original length L0 to generate the first elastic force F. 弹1 The axial force F1 is greater than or equal to the axial force on the gear teeth, so that the gear shaft is always subjected to the first elastic force F of the compression spring, which is greater than the axial force F1, during operation. 弹1 By pushing to maintain the clearance of the transmission, the gear shaft can be kept running without using shims to reduce the clearance, which has the advantage of improving operational stability.

[0114] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A calculation method for gap adjustment of a heavy-duty industrial robot, characterized in that, Includes the following steps: S1: Provides heavy-duty industrial robots; S2: Obtain the meshing angle of the input bevel gear. and pressure angle ; S3: Calculate the normal force generated at the midpoint of the tooth width on the pitch cone surface of the input bevel gear. ; S4: Based on the meshing angle Pressure angle and normal force Calculate the axial force generated on the tooth surface of the input bevel gear. ; S5: Calculate the first compression length of the compression spring. ; S6: Based on axial force and the first compression length Selecting appropriate elastic coefficient k and original length The compression spring causes the first elastic force generated by the compression spring. Axial force greater than or equal to that of the shaft teeth .

2. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 1, characterized in that, Step S3 also includes the following steps: S31: Get the number of teeth of the input bevel gear and modulus and the average load torque of the gear shaft under normal load ; S32: Based on the number of teeth Modulus and torque Calculate the normal force generated at the midpoint of the tooth width on the pitch cone surface of the input bevel gear. .

3. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 1, characterized in that, Step S5 also includes the following steps: S51: Measure the error value of the axial position of the output bevel gear; S52: Based on the error value and meshing angle Calculate the first compression length of the compression spring .

4. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 2, characterized in that, The normal force is calculated using the following formula in step S32. : ； in, The value is 1 / 3.

5. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 4, characterized in that, The axial force is calculated using the following formula in step S4. : 。 6. A calculation method for gap adjustment of a heavy-duty industrial robot according to any one of claims 1-5, characterized in that, In step S6, the first elastic force is calculated using the following formula. : 。 7. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 1, characterized in that, When the robot is subjected to an impact, the following steps are also included: S71. Obtain the second compression length of the compression spring during impact. ; S72. Calculate the second elastic force generated by the selected compression spring during impact. To ensure the second elastic force during impact Axial force greater than or equal to that of the shaft teeth .

8. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 7, characterized in that, To prevent gear skipping when the power input end is subjected to impact, the following steps are also included: First compression length Second compression length The difference between them is less than 1 mm.

9. The calculation method for gap adjustment of a heavy-duty industrial robot according to claim 7, characterized in that, The second elastic force is calculated using the following formula in step S72. : 。 10. A heavy-duty industrial robot for performing a calculation method for gap adjustment of a heavy-duty industrial robot as described in claim 1, comprising a five- or six-axis structure, characterized in that: The five-axis and six-axis structure includes a five-axis body (100), a six-axis body (200), a power output end, and a power input end. The power output end is disposed within the six-axis body (200), and the power input end is disposed within the five-axis body (100). The power output end and the power input end are connected, and the power output end drives the power input end. The power output end is provided with an output bevel gear, and the power input end is provided with an input bevel gear. The power output end and the power input end are connected by the meshing transmission of the output bevel gear and the input bevel gear. The power input end is provided with a compression spring, which is used to adjust the transmission gap between the output bevel gear and the input bevel gear. The power input end includes a five-axis input mechanism (300) and a six-axis input mechanism (400), and the power output end includes a five-axis output mechanism (500) and a six-axis first output mechanism (600); the five-axis input mechanism (300) includes a five-axis input shaft (310) and a five-axis compression spring (321), and the five-axis output mechanism (500) includes a five-axis output shaft (510). The five-axis compression spring (321) is sleeved on the five-axis input shaft (310) and is used to adjust the transmission clearance between the five-axis input shaft (310) and the five-axis output shaft (510). The six-axis input mechanism (400) includes a six-axis input shaft (410) and a six-axis compression spring (421). The six-axis first output mechanism (600) includes a six-axis output shaft (640). The six-axis compression spring (421) is sleeved on the six-axis input shaft (410) and is used to adjust the transmission gap between the six-axis input shaft (410) and the six-axis output shaft (640).

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