Industrial robot and method for calculating a gap adjustment

Abstract

This invention relates to an industrial robot and a method for calculating clearance adjustment. The method for calculating clearance adjustment of an industrial robot according to this invention includes the following steps: S1: providing an industrial robot; S2: obtaining the meshing angle γ, helix angle β, and pressure angle α of an input hyperboloid gear; S3: calculating the circumferential force F1 along the tangential direction on the tooth surface of the input hyperboloid gear; S4: calculating the axial force F generated on the bevel gear surface based on the meshing angle γ, helix angle β, pressure angle α, and circumferential force F1. a S5: Calculate the first compression length L1 of the compression spring; S6: Based on the axial force F a A compression spring with a suitable elastic coefficient k and an original length L0 is selected for the first compression length L1, so that the compression spring generates a first elastic force F. 弹1 Axial force F greater than or equal to the shaft tooth a The five- or six-axis module structure of an industrial robot and the calculation method for gap adjustment described in this invention have the advantages of simple debugging, convenient maintenance, and high operational stability.

Description

TECHNICAL FIELD

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

[0002] In the field of industrial robots, in order to ensure the hollow structure of the robot end, facilitate the disassembly of the cable, the structure of connecting two quasi-double helical gears behind the motor is used for transmission, but the general structure has small hollow caliber and many structural parts, and the oil leakage problem is prone to occur.

[0003] Meanwhile, the gear gap required by the structural parts is high, and the traditional five-six shaft structure needs to use gaskets in multiple times to compensate for the deviation caused by processing, but the cumulative error caused by multi-workpiece processing and assembly leads to the problem of difficult adjustment of the gear gap. In the subsequent use process, the maintenance is difficult due to the gear gap. Therefore, the traditional industrial robot has the defects of easy oil leakage and inconvenient maintenance in the later period. SUMMARY

[0004] Therefore, the purpose of the present application is to provide an industrial robot and a calculation method for gap adjustment, by setting a compression spring at the power input end, adjusting the transmission gap between the power output end and the power input end by using the compression spring, and by calculating and selecting the compression spring, the stability of the compression spring gap during operation is ensured, and the tooth skipping phenomenon is avoided, which has the advantages of simple debugging, convenient maintenance and high running stability.

[0005] The utility model discloses a kind of industrial robots and the calculation method for gap adjustment, which are achieved by the following schemes:

[0006] Firstly, the present application provides a five-six shaft module structure of industrial robot, which includes a five-axis shell, a six-axis upper shell and a six-axis lower shell. The five-axis shell has a first accommodating cavity at one end. A power output end is arranged in the five-axis shell and extends into the first accommodating cavity. A power input end is arranged in a second accommodating cavity formed by the six-axis upper shell and the six-axis lower shell. The power input end extends into the first accommodating cavity from the six-axis upper shell and forms a power transmission with the power output end. An output double helical gear is arranged on the power output end. An input double helical gear is arranged on the power input end. The power output end and the power input end are connected through the output double helical gear and the input double helical gear. A compression spring is arranged on the power input end. The compression spring is used to adjust the transmission gap between the output double helical gear and the input double helical gear.

[0007] The power output end includes a five-axis input mechanism and a six-axis input mechanism, the power input end includes a five-axis output mechanism and a six-axis output mechanism, the five-axis output mechanism is arranged in the first accommodating cavity and is fixedly connected with the six-axis upper shell, one end of the five-axis input mechanism extends into the first accommodating cavity and is connected with the five-axis output mechanism through gear transmission, the five-axis input mechanism includes a five-axis input shaft, a five-axis first input bearing, a five-axis second input bearing and a first compression spring, the five-axis input shaft is sleeved with the first compression spring and the five-axis first input bearing and the five-axis second input bearing fixed on the five-axis shell, one end of the first compression spring abuts against a step of the five-axis input shaft, and the other end abuts against the five-axis first input bearing, so as to adjust the transmission gap between the five-axis input mechanism and the five-axis output mechanism;

[0008] The six-axis output mechanism extends into the first accommodating cavity from the second accommodating cavity, one end of the six-axis input mechanism extends into the first accommodating cavity and is connected with the six-axis output mechanism through gear transmission, the six-axis input mechanism includes a six-axis input shaft, a six-axis first input bearing, a six-axis second input bearing and a second compression spring, the six-axis input shaft is sleeved with the second compression spring and the six-axis first input bearing and the six-axis second input bearing fixed on the five-axis shell, one end of the second compression spring abuts against a step of the six-axis input shaft, and the other end abuts against the six-axis first input bearing, so as to adjust the transmission gap between the six-axis input mechanism and the six-axis output mechanism.

[0009] In a second aspect, the application further provides a calculation method for gap adjustment of an industrial robot, including the following steps:

[0010] S1: providing the industrial robot as described in the first aspect;

[0011] S2: obtaining the engagement angle , the helix angle and the pressure angle of the input hypoid gear;

[0012] S3: calculating the circumferential force of the input hypoid gear tooth surface in the tangential direction

[0013] S4: calculating the axial force generated on the bevel gear surface according to the engagement angle , the helix angle , the pressure angle , the circumferential force ;

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

[0015] S6: calculating the first elastic force according to the axial force and the first compression length . .

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

[0017] S31: obtaining the radius of the input hypoid gear ;

[0018] S32: calculating the normal force generated by the input hypoid gear at the midpoint of the tooth surface width on the pitch cone surface according to the meshing angle , the helix angle , the pressure angle , and the radius ;

[0019] S33: calculating the circumferential force of the tooth surface of the input hypoid gear in the tangential direction according to the helix angle , the pressure angle , and the normal force .

[0020] Further, step S5 further comprises the following steps:

[0021] S51: measuring the error value of the output hypoid gear in the axial position;

[0022] S52: calculating the first compression length of the compression spring according to the error value and the meshing angle .

[0023] Further, the normal force , the circumferential force in steps S32 and S33 are calculated using the following formulas:

[0024] ;

[0025] .

[0026] Further, the axial force in step S4 is calculated using the following formula:

[0027] .

[0028] Further, the first elastic force in step S6 is calculated using the following formula: ​​​​​

[0029] .

[0030] Further, when the robot is impacted, the method further comprises the following steps:

[0031] S71, obtaining a second compression length of the compression spring when impacted ;

[0032] S72, calculating a second elastic force generated by the selected compression spring when impacted , ensuring that the second elastic force when impacted is greater than or equal to the axial force of the shaft tooth .

[0033] Further, in order to avoid the gear from jumping when the power input end is impacted, the method further comprises the following steps:

[0034] The difference between the first compression length and the second compression length is less than 1mm.

[0035] Further, the second elastic force in step S72 is calculated using the following formula :

[0036] .

[0037] The five-six axis module structure of an industrial robot and the calculation method of gap adjustment have the following beneficial effects:

[0038] 1. By setting the gap adjustment assembly on the five-axis input mechanism and the six-axis input mechanism, the complex transmission structure inside the five-axis output mechanism and the six-axis output mechanism does not need to be adjusted. Only the axial position of the five-axis input mechanism and the six-axis input mechanism is adjusted, the problem of difficult adjustment of the gap is solved, and the method has the advantage of simple debugging.

[0039] 2. By using an elastic member to push the five-axis input shaft and the six-axis input shaft to adjust the transmission gap between the five-axis and the six-axis, as long as the elastic member is calculated and selected, the transmission gap can be adjusted before installation, and there is no need to use shims for repeated disassembly and debugging.

[0040] 3. If the structure loosens during subsequent use, causing the gap and the elastic force of the elastic member to change, the structure does not need to be disassembled. The five-axis adjusting rod pushes the five-axis adjusting member through the first opening, or the six-axis adjusting rod pushes the six-axis adjusting member through the second opening, so that the transmission gap and the tension of the elastic member can be adjusted, and the method has the advantage of convenient maintenance.

[0041] 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, reducing the hard impact of the gear and other workpieces, and increasing the service life.

[0042] 5. The axial force generated on the bevel gear tooth surface during normal belt running is calculated through the data of the bevel gear , the appropriate elastic coefficient k and the original length of the compression spring are selected according to the axial force , so that the first elastic force of the compression spring is greater than or equal to the axial force of the shaft tooth , so that the shaft is always pushed by the first elastic force of the compression spring greater than the axial force to maintain the transmission gap during operation, the shaft is maintained to run without using a gasket to gap the shaft, and has the advantages of improving the running stability. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a front view of the five-six axis module structure of the industrial robot of the embodiment of the application.

[0044] Figure 2 It is an internal structure diagram of the five-six axis module structure of the industrial robot of the embodiment of the application.

[0045] Figure 3 It is a side view of the five-six axis module structure of the industrial robot of the embodiment of the application.

[0046] Figure 4 It is a sectional view of the five-six axis module structure of the industrial robot of the embodiment of the application.

[0047] Figure 5 It is an internal structure sectional view of the five-six axis module structure of the industrial robot of the embodiment of the application.

[0048] Figure 6 It is a selection flow chart of the calculation method of the gap adjustment of the industrial robot of the embodiment of the application.

[0049] Figure 7 It is a normal force calculation flow chart of the calculation method of the gap adjustment of the industrial robot of the embodiment of the application.

[0050] Figure 8 It is a first compression length calculation flow chart of the calculation method of the gap adjustment of the industrial robot of the embodiment of the application.

[0051] Figure 9 ​​The flowchart is selected for the impact of the calculation method of the gap adjustment of the industrial robot embodiment of the application.

[0052] Reference signs: five-axis shell 100, first accommodating cavity 100A;

[0053] Six-axis upper shell 210, first accommodating part 211, second accommodating part 212, second accommodating cavity 200A, six-axis lower shell 220;

[0054] Five-axis input mechanism 300, five-axis input shaft 310, five-axis shaft tooth 311, five-axis knurl 312, five-axis gap adjustment assembly 320, five-axis elastic member 321, five-axis adjustment member 322, five-axis adjustment rod 323, five-axis first input bearing 330, five-axis second input bearing 340;

[0055] Six-axis input mechanism 400, six-axis input shaft 410, six-axis shaft tooth 411, six-axis knurl 412, six-axis gap adjustment assembly 420, six-axis elastic member 421, six-axis adjustment member 422, six-axis adjustment rod 423, six-axis first input bearing 430, six-axis second input bearing 440;

[0056] Five-axis output mechanism 500, five-axis output shaft 510, five-axis output tooth disc 511, five-axis output bearing 520, five-axis flange 530, six-axis output mechanism 600, six-axis intermediate shaft 610, six-axis output tooth disc 611, first six-axis bevel gear 612, six-axis transmission shaft 620, second six-axis bevel gear 621, six-axis output bearing 630, end flange 640, skeleton oil seal 650. DETAILED DESCRIPTION

[0057] 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.

[0058] It should be clear that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor belong to the scope of protection of the embodiments of the present application.

[0059] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, 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 pattern may be more complex.

[0060] To solve the technical problems in the background art, in a first aspect, the present application provides a five-six-axis module structure of an industrial robot, as shown inFigure 1 and Figure 4 As shown in the figure, it comprises a five-axis shell 100, a six-axis upper shell 210 and a six-axis lower shell 220. The five-axis shell 100 is provided with a first accommodating cavity 100A at one end. The five-axis shell 100 is provided with a power output end extending into the first accommodating cavity 100A. The six-axis upper shell 210 and the six-axis lower shell 220 are connected to form a six-axis shell. The six-axis shell is provided with a second accommodating cavity 200A. The second accommodating cavity 200A is provided with a power input end. The power input end extends into the first accommodating cavity 100A from the six-axis upper shell 210 to form power transmission with the power output end. The power output end is provided with an output double helical gear. The power input end is provided with an input double helical gear. The power output end and the power input end are in meshing transmission through the output double helical gear and the input double helical gear. The power input end is provided with a compression spring. The compression spring is used to adjust the transmission gap between the output double helical gear and the input double helical gear.

[0061] Specifically, the input double helical gear is a five-axis shaft tooth 311 on a five-axis input shaft 310 and a six-axis shaft tooth 411 on a six-axis input shaft 410. The output double helical gear is a five-axis output tooth disc 511 on a five-axis output shaft 510 and a six-axis output tooth disc 611 on a six-axis intermediate shaft 610.

[0062] The power output end comprises a five-axis input mechanism 300 and a six-axis input mechanism 400. The power input end comprises a five-axis output mechanism 500 and a six-axis output mechanism 600. The five-axis output mechanism 500 is arranged in the first accommodating cavity 100A and fixedly connected with the six-axis upper shell 210. One end of the five-axis input mechanism 300 extends into the first accommodating cavity 100A and connected with the five-axis output mechanism 500 through gear transmission. The five-axis input mechanism 300 comprises a five-axis gap adjusting assembly 320 for adjusting the transmission gap between the five-axis input mechanism 300 and the five-axis output mechanism 500. The six-axis output mechanism 600 extends into the first accommodating cavity 100A from the second accommodating cavity 200A. One end of the six-axis input mechanism 400 extends into the first accommodating cavity 100A and connected with the six-axis output mechanism 600 through gear transmission. The six-axis input mechanism 400 comprises a six-axis gap adjusting assembly 420 for adjusting the transmission gap between the six-axis input mechanism 400 and the six-axis output mechanism 600.

[0063] The five-six axis module structure of the industrial robot provided in the embodiment of the application, a power output end is arranged in the five-axis shell 100, a power input end is arranged in the second accommodating cavity 200A formed by the connection of the upper six-axis shell 210 and the lower six-axis shell 220, the power input end extends into the first accommodating cavity 100A of the five-axis shell 100, the power output end transmits power to the power input end, and mechanical action is completed. Specifically, the power output end includes the five-axis input mechanism 300, the power input end includes the five-axis output mechanism 500 arranged in the first accommodating cavity 100A, the five-axis output mechanism 500 is connected with the upper six-axis shell 210, when the five-axis input mechanism 300 drives the five-axis output mechanism 500, the upper six-axis shell 210 and the lower six-axis shell 220 connected with the upper six-axis shell 210 rotate, and the five-axis gap adjusting assembly 320 arranged on the five-axis input mechanism 300 is used for adjusting the transmission gap between the five-axis input mechanism 300 and the five-axis output mechanism 500. The power output end further includes the six-axis input mechanism 400, the power input end further includes the six-axis output mechanism 600 connected with the first accommodating cavity 100A and the second accommodating cavity 200A, the six-axis input mechanism 400 drives the six-axis output mechanism 600 to rotate, and the six-axis gap adjusting assembly 420 arranged on the six-axis input mechanism 400 is used for adjusting the transmission gap between the six-axis input mechanism 400 and the six-axis output mechanism 600.

[0064] The five-six axis module structure of the industrial robot provided in the embodiment of the application, by arranging the gap adjusting assembly on the five-axis input mechanism 300 and the six-axis input mechanism 400, the complicated transmission structure inside the five-axis output mechanism 500 and the six-axis output mechanism 600 does not need to be adjusted, only the axial position of the five-axis input mechanism 300 and the six-axis input mechanism 400 which are convenient to adjust is adjusted, the problem of difficult adjustment of the gap is solved, and the advantage of simple debugging is achieved.

[0065] Specifically, in order to drive the six-axis shell by the five-axis input mechanism 300 in the five-axis shell 100, the five-axis input mechanism 300 is arranged in the five-axis shell 100, the five-axis input mechanism 300 is connected with the five-axis output mechanism 500 arranged in the first accommodating cavity 100A, the five-axis output mechanism 500 is connected with the upper six-axis shell 210, and the five-axis input mechanism 300 drives the five-axis output mechanism 500 to rotate the upper six-axis shell 210 and the lower six-axis shell 220 connected with the upper six-axis shell 210. Figures 2 to 5As shown, the five-axis output mechanism 500 includes a five-axis output shaft 510 and a five-axis flange 530 fixedly connected with the outer edge of the first accommodating cavity 100A, the five-axis output shaft 510 is provided with a five-axis output gear disc 511 at one end of the first accommodating cavity 100A and is fixedly connected with the six-axis upper shell 210 at the other end, and the five-axis flange 530 and the five-axis output shaft 510 are connected through a five-axis output bearing 520. The five-axis input mechanism 300 further includes a five-axis input shaft 310, a five-axis first input bearing 330 and a five-axis second input bearing 340, the five-axis first input bearing 330 and the five-axis second input bearing 340 are coaxially fixed in the five-axis shell 100 for supporting the five-axis input shaft 310. The first end of the five-axis input shaft 310 extends to the first accommodating cavity 100A through the five-axis first input bearing 330 and the five-axis second input bearing 340; the five-axis gap adjusting assembly 320 includes a five-axis elastic member 321 and a five-axis adjusting member 322, the five-axis input shaft 310 is sequentially provided with the five-axis adjusting member 322, the five-axis first input bearing 330, the five-axis elastic member 321 and the five-axis second input bearing 340 from the first end to the second end by threaded installation, one end of the five-axis elastic member 321 abuts against the step of the five-axis input shaft 310 and the other end abuts against the five-axis first input bearing 330, and the first end of the five-axis input shaft 310 is provided with a five-axis shaft gear 311 engaged with the five-axis output gear disc 511. By fixing one end of the five-axis output shaft 510 with the six-axis upper shell 210 and providing the other end with the five-axis output gear disc 511, and by fixing one end of the five-axis input shaft 310 with the power source and providing the other end with the five-axis shaft gear 311 engaged with the five-axis output gear disc 511, the five-axis output shaft 510 is rotated to drive the six-axis shell. In order to adjust the transmission gap between the five-axis input shaft 310 and the five-axis output shaft 510, the five-axis elastic member 321 is arranged to push the five-axis input shaft 310 to abut against the five-axis output shaft 510 to maintain the transmission gap, and the five-axis adjusting member 322 is arranged to adjust the position of the five-axis input shaft 310, so that the transmission gap can be recalibrated in the later maintenance.

[0066] 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 shaft 310 rotates, thereby maintaining the gap between the five-axis input shaft 310 and the five-axis output shaft 510, and avoiding phenomena such as tooth striking or tooth slipping.

[0067] Specifically, in order to drive the six-axis output mechanism 600 by the six-axis input mechanism 400, Figures 2 to 5As shown, the six-axis output mechanism 600 includes a six-axis intermediate shaft 610 coaxially sleeved in the five-axis output shaft 510, and the six-axis intermediate shaft 610 is provided with a six-axis output gear plate 611 parallel to the five-axis output gear plate 511 at one end of the first accommodating cavity 100A, and the other end of the six-axis intermediate shaft 610 extends into the second accommodating cavity 200A and is provided with a first six-axis bevel gear 612 at one end of the second accommodating cavity 200A. The six-axis input mechanism 400 includes a six-axis input shaft 410, a six-axis first input bearing 430 and a six-axis second input bearing 440, and the six-axis first input bearing 430 and the six-axis second input bearing 440 are coaxially fixed in the five-axis housing 100 for supporting the six-axis input shaft 410. The first end of the six-axis input shaft 410 extends to the first accommodating cavity 100A through the six-axis first input bearing 430 and the six-axis second input bearing 440; the six-axis gap adjusting assembly 420 includes a six-axis elastic member 421 and a six-axis adjusting member 422, and the six-axis input shaft 410 is sequentially sleeved with the six-axis adjusting member 422, the six-axis first input bearing 430, the six-axis elastic member 421 and the six-axis second input bearing 440 from the first end to the second end through threaded installation, one end of the six-axis elastic member 421 abuts against the step of the six-axis input shaft 410, and the other end abuts against the six-axis first input bearing 430, and the first end of the six-axis input shaft 410 is provided with a six-axis shaft gear 411 engaged with the six-axis output gear plate 611. In order to transmit power to the six-axis output mechanism 600, the six-axis output mechanism 600 is provided with the six-axis intermediate shaft 610 extending into the first accommodating cavity 100 from the second accommodating cavity 200A through the hollow structure of the five-axis output shaft 510, and the six-axis output gear plate 611 is arranged at one end of the first accommodating cavity 100, and one end of the six-axis input shaft 410 is connected to a power source, and the other end is provided with the six-axis shaft gear 411 engaged with the six-axis output gear plate 611, so that the six-axis intermediate shaft 610 rotates. In order to adjust the transmission gap between the six-axis input shaft 410 and the six-axis intermediate shaft 610, the six-axis elastic member 421 is arranged to push the six-axis input shaft 410 to abut against the six-axis intermediate shaft 610 to maintain the transmission gap, and the six-axis adjusting member 422 is arranged to adjust the position of the six-axis input shaft 410, so that the transmission gap can be recalibrated in later maintenance.

[0068] Among them, 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 shaft 410 rotates, thereby maintaining the gap between the six-axis input shaft 410 and the six-axis intermediate shaft 610, and avoiding phenomena such as tooth striking or tooth slipping.

[0069] The five-six-axis module structure of the industrial robot described in the embodiment of the application adjusts the transmission gap between the five-six-axis by using the elastic member to push the five-axis input shaft 310 and the six-axis input shaft 410, so that the transmission gap can be adjusted before installation as long as the elastic member is selected by calculation, without the need for repeated disassembly and debugging using shims.

[0070] Further, as shown in Figures 2 to 5 the six-axis output mechanism 600 further comprises a six-axis transmission shaft 620, which is arranged vertically with the six-axis intermediate shaft 610, and the six-axis upper housing 210 and the six-axis lower housing 220 are respectively fixed with six-axis output bearings 630 for supporting the six-axis transmission shaft 620, the six-axis transmission shaft 620 passes through the two six-axis output bearings 630, and the six-axis transmission shaft 620 is provided with a second six-axis bevel gear 621 at one end close to the six-axis intermediate shaft 610 for meshing with the first six-axis bevel gear 612, and the six-axis transmission shaft 620 is connected with the end flange 640 at the opposite end of the second six-axis bevel gear. The final purpose of the six-axis input mechanism 400 is to drive the end flange 640 of the end structure of the six-axis output mechanism 600 to rotate, and by arranging the six-axis transmission shaft 620 vertically with the six-axis intermediate shaft 610 in the second accommodating cavity 200A, the six-axis intermediate shaft 610 and the six-axis transmission shaft 620 are respectively connected with the vertically arranged first six-axis bevel gear 612 and the second six-axis bevel gear 621, so that the six-axis intermediate shaft 610 drives the six-axis transmission shaft 620 to rotate when the six-axis intermediate shaft 610 rotates, and in turn drives the end flange 640 connected with the six-axis transmission shaft 620 to rotate.

[0071] Preferably, in order to more conveniently adjust the transmission gap after the five-axis input shaft 310 is loose, as shown in Figure 3 and Figure 5 the outer surface of the five-axis adjusting member 322 is provided with a gear, and the five-axis gap adjusting assembly 320 further comprises a five-axis adjusting rod 323, and the five-axis housing 100 is provided with a first opening corresponding to the gears on both sides of the five-axis adjusting member 322, and the five-axis adjusting rod 323 is used to pass through the first opening to push the five-axis adjusting member 322 to rotate and adjust the axial position of the five-axis input shaft 310. By inserting the five-axis adjusting rod 323 into the first opening, the five-axis adjusting member 322 can be pushed to rotate, so as to adjust the axial position of the five-axis input shaft 310 to change the transmission gap.

[0072] Preferably, in order to more conveniently adjust the transmission gap after the six-axis input shaft 410 is loose, as shown in Figure 3 and Figure 5 the outer surface of the six-axis adjusting member 422 is provided with a gear, and the six-axis gap adjusting assembly 420 further comprises a six-axis adjusting rod 423, and the five-axis housing 100 is provided with a second opening corresponding to the gears on both sides of the six-axis adjusting member 422, and the six-axis adjusting rod 423 is used to pass through the second opening to push the six-axis adjusting member 422 to rotate and adjust the axial position of the six-axis input shaft 410. By inserting the six-axis adjusting rod 423 into the second opening, the six-axis adjusting member 422 can be pushed to rotate, so as to adjust the axial position of the six-axis input shaft 410 to change the transmission gap.

[0073] The five-six axis module structure of the industrial robot disclosed by the embodiment of the application can adjust the transmission gap and the tension of the elastic member without disassembling the structure if 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 five-axis adjusting member 322 through the first opening, or the six-axis adjusting rod 423 is used to push the six-axis adjusting member 423 through the second opening, so that the adjustment of the transmission gap and the tension of the elastic member can be completed, and the maintenance is convenient.

[0074] Preferably, as shown in Figure 4 and Figure 5 , the five-axis elastic member 321 is a first compression spring, the first compression spring is sleeved on the five-axis input shaft 310, one end of the first compression spring abuts against the step of the five-axis input shaft 310, and the other end of the first compression spring abuts against the five-axis first input bearing 330. The six-axis elastic member 421 is a second compression spring, the second compression spring is sleeved on the six-axis input shaft 410, one end of the second compression spring abuts against the step of the six-axis input shaft 410, and the other end of the second compression spring abuts against the six-axis first input bearing 430. The compression spring is used as the five-axis elastic member 321 and the six-axis elastic member 421, when a larger impact occurs at the end of the robot, the spring is compressed, the gear directly undergoes a smaller angle displacement buffer, the hard impact of the gear and other workpieces is reduced, and the service life is increased.

[0075] Preferably, as shown in Figure 4 and Figure 5 , the five-axis input shaft 310 is provided with a five-axis knurl 312 at the second end; and the six-axis input shaft 410 is provided with a six-axis knurl 412 at the second end. The five-axis knurl 312 and the six-axis knurl 412 are arranged at the second ends of the five-axis input shaft 310 and the six-axis input shaft 410, that is, the ends connected to the power source, so as to increase the friction and solve the transmission problem of the shaft.

[0076] Preferably, as shown in Figure 4 and Figure 3 , the six-axis transmission shaft 620, the six-axis upper housing 210 and the six-axis lower housing 220 are provided with a skeleton oil seal 700. The five-axis flange 530 and the five-axis output shaft 510 are provided with a skeleton oil seal 700. The five-axis second input bearing 340 and the six-axis second input bearing 440 and the five-axis housing 100 are provided with a skeleton oil seal 700. The skeleton oil seal 700 is arranged in the gap between the housing and the shaft body, plays a sealing role, and avoids the oil leakage of the robot.

[0077] Preferably, as shown in Figure 1 and Figure 4As shown, the six-axis upper housing 210 includes a first accommodating portion 211 and a second accommodating portion 212 connected perpendicularly to each other, the first six-axis bevel gear 612 is arranged in the first accommodating portion 211, and the second six-axis bevel gear 621 is arranged in the second accommodating portion 212. Specifically, the six-axis upper housing 210 is integrally formed. By arranging the first accommodating portion 211 and the second accommodating portion 212 in an integrally formed structure, the components are assembled into an assembly and integrated into a structural member, thereby solving the problems of high disassembly and assembly difficulty and oil leakage.

[0078] In another aspect, the application also provides a calculation method for gap adjustment of an industrial robot. The robot is the industrial robot described in the above embodiments. The method adjusts the transmission gap between the power output end and the power input end by arranging a compression spring at the power input end. The method ensures the stability of the compression spring in maintaining the gap during operation by calculating and selecting the compression spring. As shown in the method, the method comprises the following steps: Figure 6

[0079] S1: providing the industrial robot described in the above embodiments;

[0080] S2: obtaining the engagement angle , the spiral angle , and the pressure angle of the input hypoid gear;

[0081] S3: calculating the circumferential force of the input hypoid gear tooth surface in the tangential direction

[0082] S4: calculating the axial force generated on the bevel gear surface according to the engagement angle , the spiral angle , the pressure angle , and the circumferential force ;

[0083] S5: calculating the first compression length of the compression spring ;

[0084] S6: selecting a compression spring with a suitable elastic coefficient k and an original length according to the axial force and the first compression length , so that the first elastic force generated by the compression spring is greater than or equal to the axial force of the shaft tooth .

[0085] The calculation method for gap adjustment of the industrial robot described in the embodiments calculates the axial force generated on the bevel gear tooth surface during normal load operation of the bevel gear according to the data of the bevel gear, and selects a compression spring with a suitable elastic coefficient k and an original 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 This ensures that the gear shaft is always subjected to a force greater than the axial force during operation. The first elastic force of the compression spring 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.

[0086] Specifically, such as Figure 7 As shown, step S3 further includes the following step: calculating the circumferential force along the tangential direction on the input hyperboloid gear tooth surface. :

[0087] S31: Obtain the radius of the input hyperboloid gear. and the average load torque of the gear shaft under normal load ;

[0088] S32: Based on the meshing angle helix angle Pressure angle and radius Calculate the normal force generated at the midpoint of the tooth width on the pitch cone surface of the hypoid gear. ;

[0089] S33: Based on the helix angle Pressure angle Normal force Calculate the circumferential force along the tangential direction on the tooth surface of the hyperboloid gear. .

[0090] By obtaining the number of teeth Modulus and torque The normal force generated at the midpoint of the tooth width on the pitch cone surface of the input hyperboloid gear is calculated. Then, based on the helix angle Pressure angle Normal force The calculated circumferential force along the tangential direction on the input hyperboloid gear tooth surface is obtained. .

[0091] Specifically, such as Figure 8 As shown, step S5 further includes the following step: calculating the first compression length of the compression spring. :

[0092] S51: Measure and output the error value of the hypoid gear in axial position;

[0093] S52: calculating the first compression length of the compression spring according to the error value and the engagement angle calculating the first compression length of the compression spring .

[0094] Since there is error in the machining of the output hypoid gear, the axial position of the input hypoid gear engaged with the output hypoid gear cannot be determined, so it is necessary to measure the error value of the output hypoid gear in the axial position, and according to the positional relationship between the input hypoid gear and the output hypoid gear, the error value and the engagement angle calculating the first compression length of the compression spring .

[0095] Preferably, the normal force in steps S32 and S33 is calculated using the following formula circumferential force :

[0096] ;

[0097] .

[0098] wherein, the average load torque of the toothed shaft under normal load obtained in step S31, the radius of the input hypoid gear obtained in step S31. the pressure angle obtained in step S2, the helix angle obtained in step S2, the engagement angle obtained in step S2.

[0099] Preferably, the axial force in step S4 is calculated using the following formula :

[0100] .

[0101] wherein, the pressure angle obtained in step S2, the engagement angle of the input hypoid gear obtained in step S2.

[0102] The first elastic force in step S6 is calculated using the following formula :

[0103] .

[0104] wherein, k is the elastic coefficient of the selected compression spring, the original length of the selected compression spring.

[0105] In a preferred embodiment, as Figure 9As shown, when the robot is impacted, the input gear shaft will be displaced due to the impact. In order to protect the compression spring and ensure that the compression spring can still operate stably when impacted, the following steps are further included:

[0106] S71, obtaining a second compression length of the compression spring when impacted ;

[0107] S72, calculating a second elastic force generated by the selected compression spring when impacted , ensuring that the second elastic force when impacted is greater than or equal to the axial force of the shaft gear .

[0108] wherein the second compression length may be obtained through experiments according to the maximum impact force that the robot can withstand, and then the second elastic force is calculated, ensuring that the second elastic force when impacted is greater than or equal to the axial force of the shaft gear , so as to maintain the operating clearance.

[0109] Preferably, in order to avoid gear jumping when the power input end is impacted, the following steps are further included:

[0110] The difference between the first compression length and the second compression length is less than 1mm. If the compression amount of the spring when impacted is too different from the compression amount under normal conditions, gear jumping may occur, which can be avoided by limiting the compression rate when impacted.

[0111] Preferably, the second elastic force in step S72 is calculated using the following formula: :

[0112] .

[0113] wherein, is the second compression length of the compression spring when impacted.

[0114] The five-six axis module structure of the industrial robot described in the embodiments has the following beneficial effects:

[0115] 1. By providing the gap adjustment assembly on the five-axis input mechanism 300 and the six-axis input mechanism 400, the complex transmission structure inside the five-axis output mechanism 500 and the six-axis output mechanism 600 does not need to be adjusted for clearance, and only the axial position of the five-axis input mechanism 300 and the six-axis input mechanism 400, which is convenient to adjust, is adjusted, solving the problem of difficult clearance adjustment, and having the advantage of simple debugging.

[0116] 2. The transmission clearance between the five-axis and six-axis is adjusted by using elastic elements to drive the five-axis input shaft 310 and the six-axis input shaft 410. 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.

[0117] 3. If the structure becomes loose during subsequent use, causing changes in the clearance and elastic force 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 five-axis adjusting component 322 through the first opening, or by using the six-axis adjusting rod 423 to push the six-axis adjusting component 423 through the second opening. This has the advantage of convenient maintenance.

[0118] 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.

[0119] 5. Calculate the axial force generated on the tooth surface of the bevel gear during normal load operation using the bevel gear data. According to axial force 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 This ensures that the gear shaft is always subjected to a force greater than the axial force during operation. The first elastic force of the compression spring 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.

[0120] 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 method of calculating a gap adjustment of an industrial robot, characterized by, The method comprises the following steps: S1: providing an industrial robot; The industrial robot comprises a five-six-axis module structure: The five-six-axis module structure comprises a five-axis shell (100), a six-axis upper shell (210), and a six-axis lower shell (220). The five-axis shell (100) is provided with a first accommodating cavity (100A) at one end. The five-axis shell (100) is provided with a power output end extending into the first accommodating cavity (100A). The six-axis upper shell (210) and the six-axis lower shell (220) are connected to form a second accommodating cavity (200A) provided with a power input end. The power input end extends into the first accommodating cavity (100A) from the six-axis upper shell (210) to form a power transmission with the power output end. The power output end is provided with an output double-curved gear, and the power input end is provided with an input double-curved gear. The power output end and the power input end are in meshing transmission through the output double-curved gear and the input double-curved gear. The power input end is provided with a compression spring for adjusting the transmission gap between the output double-curved gear and the input double-curved gear. The power output end comprises a five-axis input mechanism (300) and a six-axis input mechanism (400). The power input end comprises a five-axis output mechanism (500) and a six-axis output mechanism (600). The five-axis output mechanism (500) is arranged in the first accommodating cavity (100A) and fixedly connected with the six-axis upper shell (210). One end of the five-axis input mechanism (300) extends into the first accommodating cavity (100A) and is in transmission connection with the five-axis output mechanism (500) through a double-curved gear. The five-axis input mechanism (300) comprises a five-axis input shaft (310), a five-axis first input bearing (330), a five-axis second input bearing (340), and a first compression spring. The five-axis input shaft (310) is sleeved with the first compression spring and the five-axis first input bearing (330) and the five-axis second input bearing (340) fixedly arranged on the five-axis shell (100). One end of the first compression spring abuts against a step of the five-axis input shaft (310), and the other end abuts against the five-axis first input bearing (330) to adjust the transmission gap between the five-axis input mechanism (300) and the five-axis output mechanism (500). The six-axis output mechanism (600) extends into the first accommodating cavity (100A) from the second accommodating cavity (200A), one end of the six-axis input mechanism (400) extends into the first accommodating cavity (100A) and is connected with the six-axis output mechanism (600) through double curved surface gear transmission, the six-axis input mechanism (400) comprises a six-axis input shaft (410), a six-axis first input bearing (430), a six-axis second input bearing (440) and a second compression spring, the six-axis input shaft (410) is sleeved with the second compression spring and the six-axis first input bearing (430) and the six-axis second input bearing (440) fixed on the five-axis shell (100), one end of the second compression spring abuts against the step of the six-axis input shaft (410), and the other end abuts against the six-axis first input bearing (430) and is arranged for adjusting the transmission gap between the six-axis input mechanism (400) and the six-axis output mechanism (600); S2: obtaining the meshing angle of the input double-helical gear , the helix angle , and the pressure angle ; S3: calculating the circumferential force in the tangential direction of the input hypoid gear tooth surface ; comprising the steps of: S31: Obtain the radius of the input double-helical gear , and the average load torque of the normal load of the pinion ; S32: Based on the meshing angle helix angle Pressure angle and radius and torque Calculate the normal force generated at the midpoint of the tooth width on the pitch cone surface of the hypoid gear. ; S33: according to the helix angle pressure angle normal force , calculate the tangential direction of the input hypoid gear tooth surface along the circumferential force ; S4: Based on the meshing angle helix angle Pressure angle Circular force Calculate the axial force generated on the surface of the bevel gear. ; S5: Calculate the first compressed length of the compression spring ; S6: according to the axial force and the first compression length Select the appropriate elastic coefficient k and the original length of the compression spring, so that the first elastic force generated by the compression spring is greater than or equal to the axial force of the shaft tooth.

2. The method of claim 1, wherein, The step S5 further comprises the following steps: S51: measuring the error value of the output double curved surface gear in the axial position; S52: calculating the error value based on the meshing angle calculating a first compression length of the compression spring .

3. The method of claim 1, wherein, The normal force is calculated in steps S32 and S33 using the following formula Circumferential force : ； 。 4. The method of calculating a gap adjustment of an industrial robot according to claim 3, characterized in that, The axial force is calculated in step S4 using the following formula : 。 5. A method of calculating a gap adjustment of an industrial robot according to any of claims 1 - 4, characterized in that, The first elastic force is calculated in step S6 using the following equation : 。 6. The method of claim 1, wherein, When the robot is impacted, the following steps are further included: S71, acquire the second compressed length of the compression spring at the time of impact ; S72, calculating the second elastic force generated by the selected compression spring at the time of impact , ensuring the second elastic force at the time of impact greater than or equal to the axial force of the shaft tooth .

7. A method of calculating a gap adjustment of an industrial robot according to claim 6, characterized in that, In order to avoid the gear from jumping when the power input end is impacted, the following steps are further included: the first compressed length and the second compressed length is less than 1 mm.

8. The method of claim 6, wherein the method further comprises: The second elastic force in step S72 is calculated using the following equation : 。

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