Low load industrial robot arm and wrist structure

Abstract

The application discloses a low-load industrial robot arm and wrist structure, comprising two groups of speed reduction mechanisms of J5 shaft and J6 shaft; the speed reduction mechanism of the J5 shaft comprises a first-stage speed reduction formed by a motor gear and a connecting shaft gear, a second-stage speed reduction formed by the connecting shaft and a J5 transmission gear, and a third-stage speed reduction formed by a J5 quasi-hyperboloid driving gear and a J5 quasi-hyperboloid driven gear; the speed reduction mechanism of the J6 shaft comprises a first-stage speed reduction formed by a motor gear and a J6 transmission gear, a second-stage speed reduction formed by a J6 quasi-hyperboloid driving gear and a J6 quasi-hyperboloid driven gear, and a third-stage speed reduction formed by a J62 bevel driving gear and a J62 bevel driven gear. The two groups of speed reduction mechanisms are integrated in the arm space, the rationality of arrangement is ensured, and the overall lightweight design is considered; meanwhile, the installation of the quasi-hyperboloid module can ensure the high precision, high rigidity and strong impact resistance of the speed reducer, and the low-load industrial robot arm and wrist structure can be widely used in relatively harsh application scenes.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of mechanical transmission, and particularly relates to a low-load industrial robot small arm and wrist structure. BACKGROUND

[0002] The quasi-hyperboloid gear reducer is a kind of transmission device which adopts multi-stage gear transmission and adopts high reduction ratio quasi-hyperboloid gear at the end. Its main advantages include high transmission ratio, high precision, high impact resistance and high rigidity; the transmission is stable, the bearing and impact resistance are high; it can adapt to the changeable external environment and harsh use conditions. At the same time, the transmission device is integrated in the mechanical arm, the space utilization rate is high, and the influence of the structure on the outside is greatly reduced.

[0003] The main problems of the existing small-load industrial robot mechanical arm include:

[0004] 1. The small arm of the quasi-double gear mechanical arm is designed in a split body, and the arm shell is insufficient in rigidity.

[0005] 2. The input oil way of the quasi-double gear mechanical arm is designed in a split body, and there is a risk of oil leakage.

[0006] 3. The four-axis and six-axis of the existing quasi-double mechanical arm are generally arranged in parallel. SUMMARY

[0007] In order to solve the problems in the prior art, the application provides a low-load industrial robot small arm and wrist structure. The transmission structure can be divided into a small arm and a wrist, wherein the four-axis on the small arm and the six-axis on the wrist are designed and arranged vertically; the small arm is designed in an integral body at the rear end, and the overall rigidity is increased compared with the split body; at the same time, the oil way is designed in an integral body in the small arm; no sealing element is needed for sealing, and the overall sealing of the arm is improved.

[0008] The technical scheme adopted by the application is as follows:

[0009] The application first provides a low-load industrial robot small arm and wrist structure, which comprises a small arm rear end shell, a small arm front end shell, a wrist shell, a five-axis reduction mechanism and a six-axis reduction mechanism;

[0010] The five-axis reduction mechanism comprises a five-axis first stage reduction mechanism, a five-axis second stage reduction mechanism and a five-axis third stage reduction mechanism; the five-axis first stage reduction mechanism and the five-axis second stage reduction mechanism are in transmission connection; the five-axis second stage reduction mechanism and the five-axis third stage reduction mechanism are in transmission connection; the five-axis third stage reduction mechanism comprises a J5 quasi-hyperboloid driving gear and a J5 quasi-hyperboloid driven gear; the J5 quasi-hyperboloid driving gear is fixedly connected with the J5 transmission shaft gear of the five-axis second stage reduction mechanism; and the J5 quasi-hyperboloid driving gear is in meshing with the J5 quasi-hyperboloid driven gear;

[0011] The six-axis reduction mechanism comprises a six-axis first-stage reduction mechanism, a six-axis second-stage reduction mechanism, and a six-axis third-stage reduction mechanism; the six-axis first-stage reduction mechanism and the six-axis second-stage reduction mechanism are connected through a J6 transmission shaft gear transmission; the six-axis second-stage reduction mechanism comprises a J6 quasi-hypoid driving gear and a J6 quasi-hypoid driven gear, the J6 quasi-hypoid driven gear and the J5 quasi-hypoid driven gear are coaxial; the J6 quasi-hypoid driving gear is fixedly connected with the J6 transmission shaft gear, and the J6 quasi-hypoid driving gear is engaged with the J6 quasi-hypoid driven gear; the six-axis third-stage reduction mechanism comprises a J62 bevel driving gear and a J62 bevel driven gear; the J62 bevel driving gear is engaged with the J62 bevel driven gear; and the J6 quasi-hypoid driven gear is fixedly connected on the spline of the J62 bevel driving gear.

[0012] The small-arm rear-end shell is integrally formed, and the small-arm rear-end shell is internally provided with a five-axis motor mounting hole for mounting the five-axis first-stage reduction mechanism, a connecting shaft hole for mounting a gear shaft, and a six-axis motor mounting hole for mounting the six-axis first-stage reduction mechanism; the small-arm rear-end shell, the small-arm front-end shell, and the wrist shell are sequentially connected, and the small-arm front-end shell is internally provided with a five-axis second-stage reduction mechanism, a five-axis third-stage reduction mechanism, and a six-axis second-stage reduction mechanism; the wrist shell is internally provided with a six-axis third-stage reduction mechanism.

[0013] As a preferred scheme of the present application, the four-axis axis, the five-axis axis, and the six-axis axis of the low-load industrial robot small-arm and wrist structure are perpendicular to each other in pairs; the four-axis axis is the center of the mounting interface of the small-arm rear-end shell for mounting with the outside, the five-axis axis is the axis coaxial with the J6 quasi-hypoid driven gear and the J5 quasi-hypoid driven gear, and the six-axis axis is the axis of the J62 bevel driven gear.

[0014] The present application further provides a mounting method of the above low-load industrial robot small-arm and wrist structure, comprising the following steps:

[0015] 1) the five-axis first-stage reduction mechanism is put into the five-axis motor mounting hole of the small-arm rear-end shell from the rear end of the small-arm rear-end shell, and the gear shaft is put into the connecting shaft hole of the small-arm rear-end shell from the front end of the small-arm rear-end shell and assembled with the five-axis first-stage reduction mechanism;

[0016] 2) the six-axis first-stage reduction mechanism is put into the six-axis motor mounting hole of the small-arm rear-end shell from the front end of the small-arm rear-end shell;

[0017] 3) install the first bearing in the bearing inner hole of the small arm front end shell, install the round gasket, adjusting gasket, J5 quasi-hypoid passive gear on the first bearing; install the spline end of the J62 bevel gear drive gear into the bearing inner hole from the lower end of the J5 quasi-hypoid passive gear, and then install the bearing, adjusting gasket, J6 quasi-hypoid passive gear and nut in sequence on the spline end of the J62 bevel gear drive gear bearing;

[0018] 4) install the five-axis second-stage speed reduction mechanism and the J5 quasi-hypoid drive gear into the small arm front end shell; one end of the five-axis second-stage speed reduction mechanism is in transmission connection with the toothed shaft; the other end of the five-axis second-stage speed reduction mechanism is in transmission connection with the J5 quasi-hypoid drive gear through the J5 transmission shaft gear; the J5 quasi-hypoid drive gear is in mesh with the J5 quasi-hypoid passive gear;

[0019] 5) install the J6 quasi-hypoid drive gear into the small arm front end shell, and transmit the one end of the J6 quasi-hypoid drive gear with the J6 transmission shaft gear, and transmit the other end of the J6 quasi-hypoid drive gear with the J6 quasi-hypoid passive gear;

[0020] 6) connect the J62 bevel passive gear with the adjusting gasket and the bearing to form the J62 bevel passive gear assembly; then install the J62 bevel passive gear assembly into the wrist shell, and make the J62 bevel passive gear mesh with the J62 bevel drive gear, thus completing the installation of the low-load industrial robot small arm and wrist structure.

[0021] Compared with the prior art, the present application has the following beneficial effects:

[0022] 1) Because the small arm rear end of the mechanical arm adopts an integrated design, the problem of insufficient overall rigidity of the small arm rear end caused by the split design of the small arm rear end in the prior art is overcome; thus the overall rigidity and impact resistance are greatly improved.

[0023] 2) Because the oil channel of the small arm rear end connecting shaft assembly of the mechanical arm adopts an integrated design, the oil leakage problem caused by the split design of the oil channel in the prior art is overcome; thus the stability of the whole machine during long-term operation is ensured.

[0024] 3) Because the four-axis and six-axis of the mechanical arm are vertically arranged, the carrying capacity and impact resistance of the mechanical arm are better than those of the prior art with horizontal arrangement, so that the mechanical arm can adapt to more demanding use scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a schematic diagram of the low-load industrial robot small arm and wrist structure of the present application;

[0026] Figure 2 It is a speed reduction structure schematic diagram of the low-load industrial robot small arm and wrist structure of the present application;

[0027] Figure 3 Figure 1 is a schematic diagram of the wrist arrangement and deceleration structure of a low-load industrial robot arm and wrist structure according to an embodiment of the present application;

[0028] Figure 4 Figure 2 is a schematic diagram of an integrated arm rear end structure of a low-load industrial robot arm and wrist structure according to an embodiment of the present application;

[0029] Figure 5 Figure 3 is a schematic diagram of an arm rear end structure of a low-load industrial robot arm and wrist structure according to an embodiment of the present application;

[0030] Figure 6 Figure 4 is a schematic diagram of an arm front end housing structure of a low-load industrial robot arm and wrist structure according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] The present application will be further described and illustrated with reference to the specific embodiments. The embodiments are merely exemplary and do not limit the scope of the disclosure. The technical features of the various embodiments of the present application can be combined accordingly without conflict.

[0032] The low-load industrial robot arm and wrist structure according to the present example is composed as shown in Figure 1 The integrated arm rear end assembly 001 is bolted to the robot rear end main body, the front end of the integrated arm rear end assembly 001 is bolted to the arm front end assembly 002, and the bottom of the arm front end assembly 002 is bolted to the wrist assembly 003. The four-axis axis 001b, the five-axis axis 001c, and the six-axis axis 001a of the low-load industrial robot arm and wrist structure are arranged perpendicular to each other in pairs. The vertical arrangement of the four-axis and the six-axis has superior load-bearing capacity and impact resistance compared to the horizontal design.

[0033] As shown in Figure 2 and Figure 3 , the four-axis axis 001b is the center of the mounting interface of the arm rear end housing for mounting with the outside, the five-axis axis 001c is the axis of the coaxial J6 quasi-double curved passive gear and J5 quasi-double curved passive gear, and the six-axis axis 001a is the axis of the J62 bevel passive gear.

[0034] As shown in Figure 2 and Figure 3 , the five-axis deceleration mechanism and the six-axis deceleration mechanism arranged inside the arm according to the present example are shown. As shown in Figure 4 and Figure 5 , the arm rear end housing is an integrated structure, and the arm rear end housing is provided with a five-axis motor mounting hole 002c, a connecting shaft hole 002a, and a six-axis motor mounting hole 002b inside, respectively; asFigure 6 As shown in the figure, the front end shell of the forearm is provided with a five-axis transmission shaft mounting hole 002d, a six-axis transmission shaft mounting hole 002e, and a bearing inner hole 002f; as Figure 3 As shown in the figure, the wrist shell is provided with a wrist shell inner hole 002g; wherein the five-axis motor 009 is connected with the five-axis motor gear 010, the body of the five-axis motor 009 is fixed with the integrated rear end shell of the forearm, the five-axis motor gear 010 is connected with the rotating shaft of the five-axis motor 009 and is installed in the five-axis motor mounting hole 002c of the integrated rear end shell of the forearm, the five-axis connecting shaft gear 011 is fixedly connected with the gear shaft 012, the gear shaft 012 is put into the connecting shaft hole 002a of the rear end shell of the forearm from the front end of the rear end shell of the forearm, the five-axis motor 009, the five-axis motor gear 010 and the five-axis connecting shaft gear 011 jointly constitute a five-axis first-stage speed reduction mechanism 501; the gear part of the gear shaft 012 is connected with the J5 transmission shaft gear 013, the J5 transmission shaft gear 013 is connected with the J5 quasi-double-curved active gear 014 and is fixed in the five-axis transmission shaft mounting hole 002d, and jointly constitutes a five-axis second-stage speed reduction mechanism 502; the J5 quasi-double-curved active gear 014 is connected with the J5 quasi-double-curved passive gear 015, and jointly constitutes a five-axis third-stage speed reduction mechanism 503. The six-axis motor 004 is connected with the six-axis motor gear 005, the body of the six-axis motor 004 is fixed with the connecting plate 018 to form a six-axis motor assembly, the six-axis motor assembly is installed in the six-axis motor mounting hole 002b of the integrated rear end shell of the forearm, the six-axis motor gear 005 is connected with the J6 transmission shaft gear 006, the J6 transmission shaft gear 006 is fixedly connected with the J6 quasi-double-curved active gear 007 and is fixed in the six-axis transmission shaft mounting hole 002e; the six-axis motor 004, the six-axis motor gear 005 and the J6 transmission shaft gear 006 jointly constitute a six-axis first-stage speed reduction structure 601; the J6 quasi-double-curved active gear 007 is connected with the J6 quasi-double-curved passive gear 008 which is fixed on the J62 bevel active gear 016 spline, the J6 quasi-double-curved active gear 007 and the J6 quasi-double-curved passive gear 008 jointly constitute a six-axis second-stage speed reduction mechanism 602; the J62 bevel active gear 016 is connected with the bearing inner hole and is fixed in the bearing inner hole 002f, the J62 bevel passive gear 017 is connected with the bearing and is fixed in the wrist shell inner hole 002g, finally the J62 bevel active gear 016 is connected with the J62 bevel passive gear 017, and the J62 bevel active gear 016 and the J62 bevel passive gear 017 jointly constitute a six-axis third-stage speed reduction mechanism 603. The connecting pieces are arranged in the integrated rear end shell of the forearm, the front end shell of the forearm and the wrist shell in a relatively reasonable workpiece layout, which ensures the overall rigidity and the overall lightweight design. After installing all the components, the O-ring is sealed, and the rear end shell of the forearm, the front end shell of the forearm and the wrist shell are locked by the internal hexagonal bolts. As Figure 4 、 5As shown, it is the internal arrangement of the low-load industrial robot arm and wrist of the present example, and the arm rear end structure and the cross-sectional view of the transmission structure thereof; the arm shell is an integrated arm rear end shell, the integrated design ensures higher rigidity of the shell, each part is installed from both ends, and the space utilization rate is higher; At the same time, the five-axis first-stage speed reduction mechanism 501 and the transmission shaft assembly are installed in the inner cavity of the integrated shell, the lubricating oil circuit in this section is integrated, and the risk of overall lubricating oil circuit leakage is reduced.

[0035] In order to more clearly express the above-mentioned device, the present application also provides a mounting method of the low-load industrial robot arm and wrist structure of the present application, comprising the following steps:

[0036] 1) Assemble the five-axis motor 009 and the five-axis motor gear 010 into one body, and then put them into the five-axis motor mounting hole 002c of the arm rear end shell from the rear end of the arm rear end shell; then put the gear shaft 012 into the arm rear end shell connecting shaft hole (002a) from the front end of the arm rear end shell, and connect it with the five-axis connecting shaft gear 011;

[0037] 2) Assemble the six-axis motor 004 and the six-axis motor gear 005 into one body, and then put them into the six-axis motor mounting hole 002b of the arm rear end shell from the front end of the arm rear end shell, and fix them through the connecting plate 018;

[0038] 3) Install the first bearing in the bearing inner hole 002f of the arm front end shell, install the round washer, adjusting washer and J5 quasi-hyperboloid passive gear 015 on the first bearing; then put the spline end of the J62 bevel gear driving gear 016 into the bearing inner hole 002f from the lower end of the J5 quasi-hyperboloid passive gear 015, and then put the bearing, adjusting washer, J6 quasi-hyperboloid passive gear 008 and nut in order on the spline end of the J62 bevel gear driving gear bearing 016;

[0039] 4) Install the five-axis second-stage speed reduction mechanism 502 and the J5 quasi-hyperboloid driving gear 014 into the arm front end shell; wherein the J5 transmission shaft gear 013 of the five-axis second-stage speed reduction mechanism 502 is in transmission connection with the gear shaft 012; the J5 transmission shaft gear 013 of the five-axis second-stage speed reduction mechanism 502 is also in transmission connection with the J5 quasi-hyperboloid driving gear 014; the J5 quasi-hyperboloid driving gear 014 is in mesh with the J5 quasi-hyperboloid passive gear 015;

[0040] 5) Install the J6 quasi-hyperboloid driving gear 007 into the arm front end shell, and make one end of the J6 quasi-hyperboloid driving gear 007 in transmission connection with the J6 transmission shaft gear 006, and make the other end of the J6 quasi-hyperboloid driving gear 007 in mesh with the J6 quasi-hyperboloid passive gear 008;

[0041] 6) J62 bevel gear passive gear 017 is connected with adjusting gasket and second bearing, and a J62 bevel gear passive gear assembly is formed; then the J62 bevel gear passive gear assembly is installed into the inner hole 002g of the wrist shell, and the J62 bevel gear passive gear 017 is engaged with the J62 bevel gear driving gear 016, and thus the installation of the low-load industrial robot arm and wrist structure is completed. According to the experimental data, the rigidity of the integrated structure of the low-load industrial robot arm and wrist structure is increased by 30% compared with the split type, and meanwhile the whole machine can still maintain its stability under the working condition of 4.5 times of the rated torque impact, and the stability will be reduced under 8 times of the rated torque, but the whole machine can still be used normally after re-calibration. The research data show that the low-load industrial robot improves the overall rigidity, carrying capacity, stability and impact resistance of the low-load industrial robot, and meanwhile the excellent impact resistance of the terminal six-axis is much higher than that of the existing design in the market, and the usability is greatly improved.

[0042] The above-described embodiments only express several embodiments of the present application, and the description is relatively specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application. For ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A low-load industrial robot forearm and wrist structure, characterized in that, It includes the forearm rear end housing, the forearm front end housing, the wrist housing, the five-axis reduction mechanism, and the six-axis reduction mechanism; The five-axis reduction mechanism includes a five-axis first-stage reduction mechanism (501), a five-axis second-stage reduction mechanism (502), and a five-axis third-stage reduction mechanism (503); the five-axis first-stage reduction mechanism (501) and the five-axis second-stage reduction mechanism (502) are connected in a transmission connection; the five-axis second-stage reduction mechanism (502) and the five-axis third-stage reduction mechanism (503) are connected in a transmission connection; the five-axis third-stage reduction mechanism includes a J5 quasi-hyperboloid driving gear (014) and a J5 quasi-hyperboloid driven gear (015); the J5 quasi-hyperboloid driving gear (014) is fixedly connected to the J5 transmission shaft gear (013) of the five-axis second-stage reduction mechanism (502); and the J5 quasi-hyperboloid driving gear (014) meshes with the J5 quasi-hyperboloid driven gear (015); The six-axis reduction mechanism includes a six-axis first-stage reduction mechanism (601), a six-axis second-stage reduction mechanism (602), and a six-axis third-stage reduction mechanism (603); the six-axis first-stage reduction mechanism (601) and the six-axis second-stage reduction mechanism (602) are connected by a J6 transmission shaft gear (006); the six-axis second-stage reduction mechanism (602) includes a J6 quasi-hyperboloid driving gear (007) and a J6 quasi-hyperboloid driven gear (008), and the J6 quasi-hyperboloid driven gear (008) and the J5 quasi-hyperboloid driven gear (015) are coaxial. The J6 quasi-hyperboloid driving gear (007) is fixedly connected to the J6 transmission shaft gear (006), and the J6 quasi-hyperboloid driving gear (007) meshes with the J6 quasi-hyperboloid driven gear (008); the six-axis third-stage reduction mechanism (603) includes a J62 bevel gear driving gear (016) and a J62 bevel gear driven gear (017); the J62 bevel gear driving gear (016) meshes with the J62 bevel gear driven gear (017); and the J6 quasi-hyperboloid driven gear (008) is fixed on the spline of the J62 bevel gear driving gear (016); The forearm rear end housing is a one-piece structure. Inside the forearm rear end housing, there are five-axis motor mounting holes (002c) for mounting the five-axis first-stage reduction mechanism, connecting shaft holes (002a) for mounting the gear shaft (012), and six-axis motor mounting holes (002b) for mounting the six-axis first-stage reduction mechanism. The front end of the forearm rear end housing is fixedly connected to the forearm front end housing. The forearm front end housing is equipped with a five-axis second-stage reduction mechanism, a five-axis third-stage reduction mechanism, and a six-axis second-stage reduction mechanism. The forearm front end housing is connected to the wrist housing, and the wrist housing is equipped with a six-axis third-stage reduction mechanism.

2. The low-load industrial robot forearm and wrist structure according to claim 1, characterized in that, The four-axis axis (001b), five-axis axis (001c), and six-axis axis (001a) of the forearm and wrist structure of the low-load industrial robot are perpendicular to each other. The four-axis axis (001b) is the center of the mounting interface for the rear end housing of the forearm to be installed with the outside. The five-axis axis (001c) is the axis of the coaxial J6 quasi-hyperboloid driven gear and J5 quasi-hyperboloid driven gear. The six-axis axis (001a) is the axis of the J62 bevel driven gear.

3. The low-load industrial robot forearm and wrist structure according to claim 1, characterized in that, The lubrication circuits between the five-axis first-stage reduction mechanism, the gear shaft (012), and the six-axis first-stage reduction mechanism in the rear housing of the forearm are interconnected.

4. The low-load industrial robot forearm and wrist structure according to claim 1, characterized in that, The five-axis first-stage reduction mechanism includes a five-axis motor (009), a five-axis motor gear (010), and a five-axis connecting shaft gear (011). The body of the five-axis motor (009) is fixed inside the housing at the rear end of the forearm. The five-axis motor gear (010) is provided on the rotating shaft of the five-axis motor (009), and the five-axis motor gear (010) meshes with the five-axis connecting shaft gear (011). The five-axis second-stage reduction mechanism includes a J5 transmission shaft gear (013) and a gear shaft (012). The J5 transmission shaft gear (013) is connected to the five-axis connecting shaft gear (011) through the gear shaft (012).

5. The low-load industrial robot forearm and wrist structure according to claim 1, characterized in that, The six-axis first-stage reduction mechanism includes a six-axis motor (004), a six-axis motor gear (005), and a J6 transmission shaft gear (006). The body of the six-axis motor is fixed inside the rear end housing of the forearm by a connecting plate (018). The six-axis motor gear (005) is provided on the rotating shaft of the six-axis motor, and the six-axis motor gear (005) meshes with the J6 transmission shaft gear (006).

6. The low-load industrial robot forearm and wrist structure according to claim 1, characterized in that, A J5 bearing seat, a five-axis bearing, and a five-axis nut are also provided between the J5 hypoid drive gear (014) and the J5 transmission shaft gear (013). The J5 bearing seat has five-axis bearings installed at both ends, and the J5 hypoid drive gear (014) is fixed to the inner ring of the five-axis bearing. The five-axis nut is sleeved on the thread of the J5 hypoid drive gear (014) to fix the five-axis bearing. A J6 bearing seat, a six-axis bearing, and a six-axis nut are also provided between the J6 hypoid drive gear (007) and the J6 transmission shaft gear (006). The J6 bearing seat has six-axis bearings installed at both ends, and the J6 hypoid drive gear (014) is fixed to the inner ring of the bearing. The six-axis nut is sleeved on the thread of the J6 hypoid drive gear (014) to fix the six-axis bearing.

7. The low-load industrial robot forearm and wrist structure according to claim 1, characterized in that, The forearm front end housing has a bearing inner hole (002f), and a first bearing is installed in the bearing inner hole (002f). A round shim, an adjusting shim, a J5 quasi-hyperboloid driven gear (015) and a J6 quasi-hyperboloid driven gear (008) are installed on the first bearing. The J5 quasi-hyperboloid driven gear (015) and the J6 quasi-hyperboloid driven gear (008) are coaxial. The J6 quasi-hyperboloid driven gear (008) is also fixed to the spline of the J62 bevel gear (016). A second bearing is provided in the wrist housing. The J62 bevel gear (017) is connected to the second bearing and fixed inside the wrist housing. The J62 bevel gear (016) meshes with the J62 bevel gear (017).

8. A method for installing the forearm and wrist structure of a low-load industrial robot as described in claim 7, characterized in that, Includes the following steps: 1) Insert the five-axis first-stage reduction mechanism (501) into the five-axis motor mounting hole (002c) of the forearm rear end housing at the rear end of the forearm rear end housing, and insert the gear shaft (012) into the connecting shaft hole (002a) of the forearm rear end housing at the front end of the forearm rear end housing and assemble it with the five-axis first-stage reduction mechanism (501); 2) Insert the six-axis first-stage reduction mechanism (601) into the six-axis motor mounting hole (002b) of the forearm rear end housing from the front end of the forearm rear end housing; 3) Install the first bearing in the bearing inner hole (002f) of the front end housing of the forearm, and install a round shim, an adjusting shim, and a J5 hypoid driven gear (015) on the first bearing; insert the spline end of the J62 bevel gear (016) from the lower end of the J5 hypoid driven gear (015) into the bearing inner hole (002f), and then install the bearing, adjusting shim, J6 hypoid driven gear (008), and nut in sequence at the spline end of the J62 bevel gear (016); 4) Install the five-axis second-stage reduction mechanism (502) and the J5 hypoid drive gear (014) into the front end housing of the forearm; one end of the five-axis second-stage reduction mechanism (502) is connected to the gear shaft (012) for transmission; the other end of the five-axis second-stage reduction mechanism (502) is connected to the J5 hypoid drive gear (014) through the J5 drive shaft gear (013); the J5 hypoid drive gear (014) meshes with the J5 hypoid driven gear (015); 5) Install the J6 hypoid drive gear (007) into the front end housing of the forearm, and connect one end of the J6 hypoid drive gear (007) to the J6 drive shaft gear (006) for transmission, and mesh the other end of the J6 hypoid drive gear (007) with the J6 hypoid driven gear (008); 6) Connect the J62 bevel driven gear (017) with the adjusting shim and bearing to form the J62 bevel driven gear assembly; then install the J62 bevel driven gear assembly into the wrist housing and make the J62 bevel driven gear (017) mesh with the J62 bevel driving gear (016), thus completing the installation of the low-load industrial robot forearm and wrist structure.

9. The installation method according to claim 8, characterized in that, All component mounting locations are sealed using O-rings.

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