Five-six axis structure of heavy-duty industrial robot

Abstract

This invention relates to a five- or six-axis structure for a heavy-duty industrial robot. The five- or six-axis structure of the heavy-duty industrial robot of this invention includes a five-axis output mechanism and a six-axis first output mechanism respectively disposed on both sides of the six-axis body, and a five-axis body disposed between the five-axis output mechanism and the six-axis first output mechanism. A five-axis input mechanism and a six-axis input mechanism are rotatably disposed within the five-axis body, with the five-axis input mechanism sleeved on the six-axis input mechanism. The five-axis input mechanism drives the five-axis output mechanism, and the six-axis input mechanism drives the six-axis first output mechanism. The five-axis input mechanism is equipped with a five-axis clearance adjustment component for adjusting the transmission clearance between the five-axis input gear shaft and the five-axis output gear shaft, and the six-axis input mechanism is equipped with a six-axis clearance adjustment component for adjusting the transmission clearance between the six-axis input gear shaft and the six-axis output gear shaft. The five- or six-axis structure of the heavy-duty industrial robot of this invention has the advantages of simple debugging and convenient maintenance.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a five- or six-axis structure for a heavy-duty industrial robot. Background Technology

[0002] In the field of heavy-duty robots, to reduce the load rate of the motors in the arm, four-, five-, and six-axis robots generally adopt a rear-mounted motor structure to reduce the weight of the robot's end effector. Therefore, five- and six-axis robots use bevel gear structures for transmission. Because bevel gear transmissions involve many structural components, the cumulative deviations in machining and assembly are significant, failing to meet the precision requirements of bevel gear transmissions. Furthermore, the workpieces in heavy-duty robots are large and heavy, and machining accuracy is difficult to guarantee, resulting in poor fit accuracy of the bevel gear structure. This can easily lead to problems such as insufficient bevel gear clearance causing jamming or excessive clearance causing clearance issues in the bevel gear transmission. Traditional five- and six-axis structures require multiple adjustments using shims to compensate for machining deviations. For example, the transmission clearance between the input and output axes needs to be adjusted using precise shim thickness. This adjustment requires repeated disassembly and testing, and further disassembly and maintenance are necessary if loosening occurs later. Therefore, traditional shim adjustment methods suffer from cumbersome initial adjustments and inconvenient subsequent maintenance. Summary of the Invention

[0003] Based on this, the purpose of the present invention is to provide a five- or six-axis structure for a heavy-duty industrial robot. The five-axis input gear shaft and the six-axis input gear shaft adopt an integrated sleeve structure. Before assembly, the size of the output end is checked. The gap between the five and six axes can be adjusted simultaneously by adjusting the tension of the elastic elements set on the five-axis input gear shaft and the six-axis input gear shaft. It has the advantages of simple debugging and convenient maintenance.

[0004] This invention is achieved through the following scheme:

[0005] A five- or six-axis structure for a heavy-duty industrial robot includes a five-axis body, a six-axis body, a five-axis input mechanism, a six-axis input mechanism, a five-axis output mechanism, and a six-axis first output mechanism. The five-axis output mechanism and the six-axis first output mechanism are respectively disposed on both sides of the six-axis body. The five-axis body is disposed between the five-axis output mechanism and the six-axis first output mechanism. The five-axis input mechanism and the six-axis input mechanism are rotatably disposed within the five-axis body, and the five-axis input mechanism is sleeved on the six-axis input mechanism. The five-axis input mechanism drives the five-axis output mechanism, and the six-axis input mechanism drives the six-axis first output mechanism.

[0006] The five-axis input mechanism includes a five-axis input gear shaft and a five-axis backlash adjustment assembly; the six-axis input mechanism includes a six-axis input gear shaft and a six-axis backlash adjustment assembly; the five-axis output mechanism includes a five-axis output gear shaft; the six-axis first output mechanism includes a six-axis output gear shaft; the five-axis backlash adjustment assembly is used to adjust the transmission backlash between the five-axis input gear shaft and the five-axis output gear shaft; and the six-axis backlash adjustment assembly is used to adjust the transmission backlash between the six-axis input gear shaft and the six-axis output gear shaft.

[0007] Furthermore, the five-axis input gear shaft has a first bevel gear at one end near the five-axis output mechanism; the five-axis output mechanism includes a five-axis reducer and a five-axis output gear shaft, one end of the five-axis output gear shaft is connected to the output end of the five-axis reducer, and the other end is provided with a second bevel gear. The five-axis input gear shaft and the five-axis output gear shaft are arranged perpendicularly, and the first bevel gear and the second bevel gear mesh and transmit power.

[0008] Furthermore, the six-axis input gear shaft is provided with a third bevel gear at one end near the six-axis first output mechanism; the six-axis input gear shaft and the six-axis output gear shaft are arranged perpendicularly, and one end of the six-axis output gear shaft is provided with a sixth bevel gear that meshes with the third bevel gear.

[0009] It also includes a gear assembly and a six-axis second output mechanism. The six-axis second output mechanism includes a six-axis reducer and a six-axis transition shaft. One end of the six-axis output gear shaft relative to the sixth bevel gear is connected to the gear assembly. The gear assembly is also connected to one end of the six-axis transition shaft. The other end of the six-axis transition shaft is provided with a fifth bevel gear. The fifth bevel gear meshes with a fourth bevel gear provided on the six-axis reducer.

[0010] Furthermore, a bearing fixing plate is fixedly installed in the inner cavity of the five-axis body, and two five-axis bearings are clamped in the bearing fixing plate. The five-axis input gear shaft is slidably clamped in the inner ring of the five-axis bearing.

[0011] The five-axis input gear shaft has a hollow through-hole structure. Two six-axis bearings are installed inside the hollow cavity of the five-axis input gear shaft. The six-axis input gear shaft can slide through the inner ring of the six-axis bearings.

[0012] Furthermore, the five-axis clearance adjustment assembly includes a five-axis elastic element and a five-axis adjusting element. The five-axis elastic element is disposed between the first bevel gear and the five-axis bearing. One end of the five-axis elastic element abuts against the five-axis bearing, and the other end abuts against the first bevel gear.

[0013] Another of the five-axis bearings is provided with a five-axis adjustment member on the side away from the first bevel gear, and the five-axis adjustment member is threadedly mounted on the five-axis input gear shaft.

[0014] Furthermore, the six-axis clearance adjustment assembly includes a six-axis elastic element and a six-axis adjusting element. The six-axis elastic element is disposed between the third bevel gear and the six-axis bearing. One end of the six-axis elastic element abuts against the six-axis bearing, and the other end abuts against the third bevel gear.

[0015] Another of the six-axis bearings has a six-axis adjusting member disposed on the side away from the third bevel gear, and the six-axis adjusting member is threadedly mounted on the six-axis input gear shaft.

[0016] Furthermore, the five-axis gap adjustment assembly also includes a five-axis adjustment rod. The outer surface of the five-axis adjustment member is provided with teeth, and the five-axis adjustment member is provided with a locking screw. The five-axis body is provided with a first opening, and the five-axis adjustment rod can abut against the teeth of the five-axis adjustment member through the first opening.

[0017] Furthermore, the six-axis clearance adjustment assembly also includes a six-axis adjustment rod. The outer surface of the six-axis adjustment member is provided with teeth, and the six-axis adjustment member is provided with a locking screw. The five-axis body is provided with a second opening, and the six-axis adjustment rod can abut against the teeth of the six-axis adjustment member through the second opening.

[0018] Furthermore, the five-axis body is also provided with a first opening and a second opening, the first opening and the second opening being provided corresponding to the five-axis adjusting component and the six-axis adjusting component, and the first opening and the second opening being respectively covered by a first cover plate and a second cover plate.

[0019] Furthermore, the five-axis elastic element is a first compression spring, which is sleeved between the first bevel gear and the five-axis bearing. One end of the first compression spring abuts against the five-axis bearing, and the other end abuts against the first bevel gear.

[0020] The six-axis elastic element is a second compression spring, which is sleeved between the third bevel gear and the six-axis bearing. One end of the second compression spring abuts against the six-axis bearing, and the other end abuts against the third bevel gear.

[0021] The five- or six-axis structure of a heavy-duty industrial robot described in this application has the following advantages:

[0022] 1. The five-axis input mechanism and the six-axis input mechanism adopt an integrated structural design. Before assembly, the dimensions of the five-axis output mechanism and the first six-axis output mechanism are checked. By simultaneously adjusting the five-axis gap adjustment component and the six-axis gap adjustment component, the gap between the five and six axes is adjusted synchronously, which has the advantage of simple debugging.

[0023] 2. By using elastic elements to drive the five-axis input gear shaft and the six-axis input gear shaft, 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 post-assembly adjustment more convenient.

[0024] 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. Simply use the five-axis adjusting rod to push the teeth of the five-axis adjusting component through the first opening, or use the six-axis adjusting rod to push the teeth of the six-axis adjusting component through the second opening to adjust the transmission clearance and tension of the elastic element. This method is convenient for maintenance.

[0025] 4. Using compression springs as elastic components in both the five-axis and six-axis systems, when a large impact occurs at the robot's end effector, the springs are compressed, causing the gears to undergo a small-angle displacement to buffer the impact, reducing hard impacts on the gears and other workpieces, and increasing service life. Attached Figure Description

[0026] Figure 1 This is a perspective front view of the five- or six-axis structure of a heavy-duty industrial robot according to an embodiment of the present invention.

[0027] Figure 2 This is a perspective rear view of the five- or six-axis structure of a heavy-duty industrial robot according to an embodiment of the present invention.

[0028] Figure 3 This is an internal structural diagram of the five- or six-axis structure of a heavy-duty industrial robot according to an embodiment of the present invention.

[0029] Figure 4 This is a cross-sectional view of the internal structure of a five- or six-axis heavy-duty industrial robot according to an embodiment of the present invention.

[0030] Reference numerals: 5-axis body 100, bearing fixing plate 110, first cover plate 120, second cover plate 130, first opening 100A, second opening 100B, 6-axis body 200;

[0031] Five-axis input mechanism 300, five-axis input gear shaft 310, first bevel gear 311, five-axis clearance adjustment assembly 320, five-axis elastic element 321, five-axis adjusting element 322, five-axis adjusting rod 323, five-axis bearing 330;

[0032] Six-axis input mechanism 400, six-axis input gear shaft 410, third bevel gear 411, six-axis clearance adjustment assembly 420, six-axis elastic element 421, six-axis adjusting element 422, six-axis adjusting rod 423, six-axis bearing 430;

[0033] Five-axis output mechanism 500, five-axis output gear shaft 510, second bevel gear 511, five-axis reducer 520;

[0034] Six-axis first output mechanism 600, six-axis output gear 610, sixth bevel gear 611;

[0035] Gear assembly 700;

[0036] The six-axis second output mechanism 800, the six-axis reducer 810, the fourth bevel gear 811, the six-axis transition shaft 820, and the fifth bevel gear 821. Detailed Implementation

[0037] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0038] It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of the embodiments of this application.

[0039] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0040] To address the technical problems in the background art, the present invention provides a five- or six-axis structure for a heavy-duty industrial robot, such as... Figure 1 and Figure 3As shown, the system includes a five-axis body 100, a six-axis body 200, a five-axis input mechanism 300, a six-axis input mechanism 400, 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 respectively disposed on both sides of the six-axis body 200. The five-axis body 100 is disposed 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 disposed inside the five-axis body 100, and 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.

[0041] like Figure 3 and Figure 4 As shown, the five-axis input mechanism 300 includes a five-axis input gear shaft 310 and a five-axis backlash adjustment assembly 320; the six-axis input mechanism 400 includes a six-axis input gear shaft 410 and a six-axis backlash adjustment assembly 420; the five-axis output mechanism 500 includes a five-axis output gear shaft 510; and the six-axis first output mechanism 600 includes a six-axis output gear shaft 610. The five-axis backlash adjustment assembly 320 is used to adjust the transmission backlash between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, and the six-axis backlash adjustment assembly 420 is used to adjust the transmission backlash between the six-axis input gear shaft 410 and the six-axis output gear shaft 610.

[0042] This embodiment describes a five- or six-axis structure for a heavy-duty industrial robot. The five-axis input mechanism 300 within the five-axis body 100 transmits power to one side of the six-axis body 200 to drive the five-axis output mechanism 500. The six-axis input mechanism 400 within the five-axis body 100 transmits power to the other side of the six-axis body 200 to drive the six-axis first output mechanism 600. The five-axis input mechanism 300 is integrally mounted on the six-axis input mechanism 400. Specifically, power can be transmitted 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, via gear transmission or similar means. This means there is a certain transmission gap between the five-axis output gear shaft 510 and the five-axis input gear shaft 310, and between the six-axis output gear shaft 610 and the six-axis input gear shaft 410. To adjust this transmission gap, a five-axis gap adjustment component 320 and a six-axis gap adjustment component 420 are installed on the five-axis input gear shaft 310 to adjust the gap.

[0043] The five-axis and six-axis structure of the heavy-duty industrial robot described in this embodiment adopts an integrated structural design for the five-axis input mechanism 300 and the six-axis input mechanism 400. Before assembly, the dimensions of the five-axis output mechanism 500 and the six-axis first output mechanism 600 are checked. By simultaneously adjusting the five-axis gap adjustment component 320 and the six-axis gap adjustment component 420, the gap between the five and six axes is adjusted synchronously, which has the advantage of simple debugging.

[0044] Specifically, such as Figure 3 and Figure 4 As shown, the five-axis input gear shaft 310 has a first bevel gear 311 at one end near the five-axis output mechanism 500. The five-axis output mechanism 500 also includes a five-axis reducer 520. One end of the five-axis output gear shaft 510 is connected to the output end of the five-axis reducer 520, and the other end has a second bevel gear 511. The five-axis input gear shaft 310 and the five-axis output gear shaft 510 are arranged perpendicularly, and the first bevel gear 311 and the second bevel gear 511 mesh with each other. Since the five-axis input mechanism 300 and the five-axis output mechanism 500 are connected by gear transmission, the first bevel gear 311 is provided at one end, and the five-axis output gear shaft 510 has a second bevel gear 511 meshing with it. The five-axis input gear shaft 310 drives the five-axis output gear shaft 510 to rotate, thereby transmitting power from the five-axis output gear shaft 510 to the five-axis reducer 520.

[0045] Furthermore, such as Figure 3 and Figure 4 As shown, the six-axis input gear shaft 410 has a third bevel gear 411 at one end near the six-axis first output mechanism 600; the six-axis input gear shaft 410 and the six-axis output gear shaft 610 are arranged perpendicularly, and one end of the six-axis output gear shaft 610 has a sixth bevel gear 611 that meshes with the third bevel gear 411. It also includes a gear assembly 700 and a six-axis second output mechanism 800. The six-axis second output mechanism 800 includes a six-axis reducer 810 and a six-axis transition shaft 820. One end of the six-axis output gear shaft 610 relative to the sixth bevel gear 611 is connected to the gear assembly 700. The gear assembly 700 is also connected to one end of the six-axis transition shaft 820. The other end of the six-axis transition shaft 820 has a fifth bevel gear 821, which meshes with a fourth bevel gear 811 on the six-axis reducer 810. Since the six-axis input mechanism 400 and the six-axis first output mechanism 600 are connected by gear transmission, a third bevel gear 411 is provided at one end of the six-axis input gear shaft 410, and a sixth bevel gear 611 meshing with it is provided on the six-axis output gear shaft 610. Between the six-axis output gear shaft 610 and the six-axis reducer 810, a gear assembly 700 and a six-axis transition shaft 820 are provided to transmit power from the six-axis output gear shaft 610 to the six-axis reducer 810.

[0046] In order to fix the five-axis input mechanism 300 and the six-axis input mechanism 400 within the five-axis body 100, such as Figure 3 and Figure 4 As shown, a bearing fixing plate 110 is fixedly installed inside the five-axis body 100. Two five-axis bearings 330 are held inside the bearing fixing plate 110, and a five-axis input gear 310 is slidably held inside the inner ring of the five-axis bearings 330. The five-axis input gear 310 has a hollow through-hole structure, and two six-axis bearings 430 are held inside the hollow cavity of the five-axis input gear 310. The six-axis input gear 410 can slide through the inner ring of the six-axis bearings 430. By setting the bearing fixing plate 110 inside the five-axis body 100, and then holding the five-axis bearings 330 inside the bearing fixing plate 110, the five-axis input gear 310 passes through the five-axis bearings 330 at a defined position, and the six-axis input gear 430 is provided inside the hollow cavity of the five-axis input gear 310, with the six-axis input gear 410 passing through the six-axis bearings 430 at a defined position.

[0047] To facilitate the adjustment of the clearance between the five-axis input gear shaft 310 and the five-axis output gear shaft 510, such as... Figure 3 and Figure 4 As shown, the five-axis clearance adjustment assembly 320 includes a five-axis elastic element 321 and a five-axis adjusting element 322. The five-axis elastic element 321 is disposed between the first bevel gear 311 and the five-axis bearing 330, with one end of the elastic element 321 abutting against the five-axis bearing 330 and the other end abutting against the first bevel gear 311. The other five-axis bearing 330 has the five-axis adjusting element 322 disposed on the side away from the first bevel gear 311, and the five-axis adjusting element 322 is threadedly mounted on the five-axis input gear shaft 310. By disposing of the five-axis elastic element 321 between the first bevel gear 311 and the five-axis bearing 330, the elastic element 321 generates a thrust on the five-axis input gear shaft 310 towards the five-axis output gear shaft 510. The five-axis adjusting element 322 is mounted on the other end of the five-axis input gear shaft 310 and, by abutting against the five-axis bearing 330, limits the ultimate clearance between the five-axis input gear shaft 310 and the five-axis output gear shaft 510. Among them, the five-axis elastic element 321 is selected by calculation so that the elastic force generated by the five-axis elastic element 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 knocking or tooth slippage.

[0048] Furthermore, to facilitate the adjustment of the clearance between the six-axis input gear shaft 410 and the six-axis output gear shaft 610, such as... Figure 3 and Figure 4As shown, the six-axis clearance adjustment assembly 420 includes a six-axis elastic element 421 and a six-axis adjusting element 422. The six-axis elastic element 421 is disposed between the third bevel gear 411 and the six-axis bearing 430, with one end abutting against the six-axis bearing 430 and the other end abutting against the third bevel gear 411. The six-axis adjusting element 422 is disposed on the side of the other six-axis bearing 430 away from the third bevel gear 411, and is threadedly mounted on the six-axis input gear shaft 410. By distributing the six-axis elastic element 421 between the third bevel gear 411 and the six-axis bearing 430, the six-axis elastic element 421 generates a thrust on the six-axis input gear shaft 410 towards the six-axis output gear shaft 610. The six-axis adjusting element 422 is mounted on the other end of the six-axis input gear shaft 410 and, by abutting against the six-axis bearing 430, limits the ultimate clearance between the six-axis input gear shaft 410 and the six-axis output gear shaft 610. Among them, the six-axis elastic element 421 is selected by calculation so that the elastic force generated by the six-axis elastic element 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 phenomena such as tooth knocking or tooth slippage.

[0049] The five- or six-axis structure of a heavy-duty industrial robot described in this application uses elastic elements to push the five-axis input gear shaft 310 and the six-axis input gear shaft 410, thereby adjusting the transmission clearance between the five and six axes. 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.

[0050] Preferred, such as Figures 2 to 4 As shown, the five-axis backlash adjustment assembly 320 also includes a five-axis adjustment rod 323. The outer surface of the five-axis adjustment member 322 is provided with teeth, and the five-axis adjustment member 322 is provided with a locking screw. The five-axis body 100 is provided with a first opening 100A. The five-axis adjustment rod 323 can abut against the teeth of the five-axis adjustment member 322 through the first opening 100A. By opening the first opening 100A on the five-axis body 100, and then loosening and unlocking the locking screw of the five-axis adjustment member 322, the five-axis adjustment member 322 can be rotated by using the five-axis adjustment rod 323 through the first opening 100A, so that the five-axis adjustment member 322 moves and adjusts the limited position of the five-axis input gear shaft 310. Then, the locking screw of the five-axis adjustment member 322 is tightened to complete the adjustment of the transmission backlash and the tension of the elastic element.

[0051] Preferred, such as Figures 2 to 4As shown, the six-axis backlash adjustment assembly 420 also includes a six-axis adjustment rod 423. The outer surface of the six-axis adjustment member 422 is provided with teeth, and the six-axis adjustment member 422 is provided with a locking screw. The five-axis body 100 is provided with a second opening 100B, through which the six-axis adjustment rod 423 abuts against the teeth of the six-axis adjustment member 422. By opening the second opening 100B on the five-axis body 100, and then loosening and unlocking the locking screw of the six-axis adjustment member 422, the six-axis adjustment member 422 can be rotated by using the six-axis adjustment rod 423 through the second opening 100B, thereby moving the six-axis adjustment member 422 to adjust the limited position of the six-axis input gear shaft 410. Then, the locking screw of the six-axis adjustment member 422 is tightened to complete the adjustment of the transmission backlash and the tension of the elastic element.

[0052] The five- or six-axis structure of a heavy-duty industrial robot described in this application embodiment can be adjusted without disassembling the structure if the structure becomes loose during subsequent use, causing changes in the clearance and elasticity of the elastic element. This can be achieved 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 provides the advantage of convenient maintenance.

[0053] Preferred, such as Figures 2 to 4 As shown, the five-axis body 100 is also provided with a first opening and a second opening, which are respectively provided for the five-axis adjusting member 322 and the six-axis adjusting member 422. The first opening and the second opening are respectively covered by a first cover plate 120 and a second cover plate 130. By opening the first opening and the second opening, it is convenient to observe the internal condition of the five-axis body 100 when adjusting the gap using the five-axis adjusting rod 323 and the six-axis adjusting rod 423.

[0054] Preferably, the five-axis elastic element 321 is a first compression spring, which 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 abuts against the first bevel gear 311. The six-axis elastic element 421 is a second compression spring, which 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 abuts against the third bevel gear 411. By using compression springs as the five-axis elastic element 321 and the six-axis elastic element 421, when a large impact occurs at the robot's end effector, the spring is compressed, and the gear directly undergoes a small-angle displacement to buffer the impact, reducing hard impacts on the gear and other workpieces, and increasing service life.

[0055] The five- or six-axis structure of a heavy-duty industrial robot described in this application has the following advantages:

[0056] 1. The five-axis input mechanism 300 and the six-axis input mechanism 400 adopt an integrated structural design. Before assembly, the dimensions of the five-axis output mechanism 500 and the six-axis first output mechanism 600 are checked. By simultaneously adjusting the five-axis gap adjustment component 320 and the six-axis gap adjustment component 420, the gap between the five and six axes is adjusted synchronously, which has the advantage of simple debugging.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 five- or six-axis structure for a heavy-duty industrial robot, characterized in that: The system includes a five-axis body (100), a six-axis body (200), a five-axis input mechanism (300), a six-axis input mechanism (400), 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 respectively disposed on both sides of the six-axis body (200). The five-axis body (100) is disposed 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 disposed inside the five-axis body (100), and 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). The five-axis input mechanism (300) includes a five-axis input gear shaft (310) and a five-axis backlash adjustment assembly (320); the six-axis input mechanism (400) includes a six-axis input gear shaft (410) and a six-axis backlash adjustment 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); the five-axis backlash adjustment assembly (320) is used to adjust the transmission backlash between the five-axis input gear shaft (310) and the five-axis output gear shaft (510); and the six-axis backlash adjustment assembly (420) is used to adjust the transmission backlash between the six-axis input gear shaft (410) and the six-axis output gear shaft (610). The five-axis clearance adjustment assembly (320) includes a five-axis elastic element (321), a five-axis adjusting element (322), and a five-axis adjusting rod (323). The five-axis elastic element (321) generates a thrust on the five-axis input gear shaft (310) toward the five-axis output gear shaft (510). The five-axis adjusting element (322) is threaded onto the five-axis input gear shaft (310) and limits the limit clearance between the five-axis input gear shaft (310) and the five-axis output gear shaft (510). The five-axis adjusting rod (323) is connected to the five-axis adjusting element (322) and can push the five-axis adjusting element (322) to rotate. The six-axis clearance adjustment assembly (420) includes a six-axis elastic element (421), a six-axis adjusting element (422), and a six-axis adjusting rod (423). The six-axis elastic element (421) generates a thrust on the six-axis input gear shaft (410) toward the six-axis output gear shaft (610). The six-axis adjusting element (422) is threaded onto the six-axis input gear shaft (410) and limits the limit clearance between the six-axis input gear shaft (410) and the six-axis output gear shaft (610). The six-axis adjusting rod (423) is connected to the six-axis adjusting element (422) and can drive the six-axis adjusting element (422) to rotate.

2. The five- or six-axis structure of a heavy-duty industrial robot according to claim 1, characterized in that: The five-axis input gear shaft (310) is provided with a first bevel gear (311) at one end near the five-axis output mechanism (500); the five-axis output mechanism (500) also includes a five-axis reducer (520), one end of the five-axis output gear shaft (510) is connected to the output end of the five-axis reducer (520), and a second bevel gear (511) is provided on the other end. The five-axis input gear shaft (310) and the five-axis output gear shaft (510) are arranged perpendicularly, and the first bevel gear (311) and the second bevel gear (511) mesh and drive each other.

3. The five- or six-axis structure of a heavy-duty industrial robot according to claim 2, characterized in that: The six-axis input gear shaft (410) has a third bevel gear (411) at one end near the six-axis first output mechanism (600); the six-axis input gear shaft (410) and the six-axis output gear shaft (610) are arranged perpendicularly, and one end of the six-axis output gear shaft (610) is provided with a sixth bevel gear (611) that meshes with the third bevel gear (411). It also includes a gear assembly (700) and a six-axis second output mechanism (800). The six-axis second output mechanism (800) includes a six-axis reducer (810) and a six-axis transition shaft (820). The six-axis output gear shaft (610) is connected to the gear assembly (700) at one end relative to the sixth bevel gear (611). The gear assembly (700) is also 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) meshes with the fourth bevel gear (811) provided on the six-axis reducer (810).

4. The five- or six-axis structure of a heavy-duty industrial robot according to claim 3, characterized in that: The five-axis body (100) is fixedly provided with a bearing fixing plate (110) in the inner cavity. Two five-axis bearings (330) are clamped in the bearing fixing plate (110). The five-axis input gear shaft (310) is slidably clamped in the inner ring of the five-axis bearings (330). The five-axis input gear shaft (310) is a hollow through-structure. Two six-axis bearings (430) are installed inside the hollow cavity of the five-axis input gear shaft (310). The six-axis input gear shaft (410) can slide through the inner ring of the six-axis bearings (430).

5. The five- or six-axis structure of a heavy-duty industrial robot according to claim 4, characterized in that: One end of the five-axis elastic element (321) abuts against the five-axis bearing (330), and the other end abuts against the first bevel gear (311). Another of the five-axis bearings (330) is provided with the five-axis adjustment member (322) on the side away from the first bevel gear (311), and the five-axis adjustment member (322) is threadedly mounted on the five-axis input gear shaft (310).

6. The five- or six-axis structure of a heavy-duty industrial robot according to claim 5, characterized in that: One end of the six-axis elastic element (421) abuts against the six-axis bearing (430), and the other end abuts against the third bevel gear (411). Another of the six-axis bearings (430) is provided with the six-axis adjustment member (422) on the side away from the third bevel gear (411), and the six-axis adjustment member (422) is threadedly mounted on the six-axis input gear shaft (410).

7. The five- or six-axis structure of a heavy-duty industrial robot according to claim 6, characterized in that: 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 locking screw. The five-axis body (100) is provided with a first opening (100A). The five-axis adjusting rod (323) can abut against the teeth of the five-axis adjusting member (322) through the first opening (100A).

8. The five- or six-axis structure of a heavy-duty industrial robot according to claim 7, characterized in that: The outer surface of the six-axis adjusting member (422) is provided with teeth, and the six-axis adjusting member (422) is provided with a locking screw. The five-axis body (100) is provided with a second opening (100B). The six-axis adjusting rod (423) can abut against the teeth of the six-axis adjusting member (422) through the second opening (100B).

9. A five- or six-axis structure for a heavy-duty industrial robot according to any one of claims 7 or 8, characterized in that: The five-axis body (100) is also provided with a first opening and a second opening. The first opening and the second opening are provided corresponding to the five-axis adjusting member (322) and the six-axis adjusting member (422). The first opening and the second opening are respectively covered by a first cover plate (120) and a second cover plate (130).

10. A five- or six-axis structure for a heavy-duty industrial robot according to any one of claims 6-8, characterized in that: The five-axis elastic element (321) is a first compression spring, which 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 abuts against the first bevel gear (311). The six-axis elastic element (421) is a second compression spring, which 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 abuts against the third bevel gear (411).

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