Gear robot wrist joint

Abstract

The gear robot wrist joint comprises a wrist connecting piece, a speed reducer, a motor A, a wrist body, a hollow speed reducer, a motor B and a bevel gear set, the speed reducer is installed on the wrist connecting piece, an output belt wheel A is installed at the input end of the speed reducer, the motor A is installed on the wrist connecting piece, and an input belt wheel A is installed at the output end of the motor B; the input belt wheel A and the output belt wheel A are connected through a synchronous belt A. One side of the wrist body is connected with the output end of the speed reducer, the other side of the wrist body is rotationally connected with the wrist connecting piece, the hollow speed reducer is installed on the wrist body, an output shaft of the motor B and an output shaft of the motor A are opposite in direction, and an input belt wheel B is installed on the output shaft of the motor B. An output belt wheel B is rotationally installed on the side, away from the speed reducer, of the wrist body, the input belt wheel B and the output belt wheel B are connected through a synchronous belt B, and an output bevel gear is installed at the output end of the hollow speed reducer and meshed with the input bevel gear. The invention has the advantages of low noise and stable transmission.

Description

Technical Field

[0001] The invention relates to a gear robot wrist joint and belongs to the technical field of robots. Background Art

[0002] With the continuous development of intelligent manufacturing, desktop robots are widely used in 3C, photovoltaic typesetting and other fields. In order to reduce the impact of noise on the working environment and employee health, many fields require desktop robots to be high-speed, high-precision and low-noise. At present, the hollow structure of desktop robots on the market generally has a high noise value. With the requirements of some industries for low noise of robots, robots with high noise will not be able to meet market demand.

[0003] The robot wrist joint power structure disclosed by the Chinese utility model patent with authorization announcement number CN219132365U, the second rotating shaft is connected to the input shaft of the third reducer arranged on the sixth joint swing arm through a bevel gear. Although the consumption will be reduced a little during the transmission process, the terminal bevel gear transmission is rigidly connected to the wrist body through the bearing, the coaxiality accuracy between the transmission chains will affect the noise, the deformation between the shell and the transmission chain is not disconnected, the deformation of the shell has a greater impact on the meshing sound of the bevel gear, and a large noise will be generated during the terminal movement.

[0004] The heavy-duty robot wrist joint disclosed in the Chinese utility model patent with authorization announcement number CN217394977U, has a first drive motor installed in the first shell driving the second shell to rotate through multiple sets of gear assemblies, and then the second drive motor installed in the second shell drives the reducer and the output flange to rotate. In this transmission structure, the transmission chain is rigidly connected to the shell, and the deformation of the shell affects the gear meshing transmission and the gear meshing sound. Since the gear transmission meshing sound is not significantly reduced, there is still a lot of noise during the end movement, and the wiring of the end effector connected to the output flange in this structure needs to be arranged from the outside of the second shell. The wiring is easy to wear and cause interference to the movement space of the robot wrist, affecting the movement of the robot wrist.

[0005] The hollow forearm and wrist structure of a low-load industrial robot disclosed in the Chinese utility model patent with authorization announcement number CN203680319U and the wrist transmission mechanism of a new welding robot disclosed in the Chinese utility model patent with authorization announcement number CN205129889U also have the defect of high noise due to the transmission structure. Summary of the invention

[0006] The purpose of the present invention is to provide a gear robot wrist joint to solve the technical defect of large transmission noise of the robot wrist joint in the prior art.

[0007] To solve the above problems, the technical solution adopted by the present invention is as follows: A gear robot wrist joint includes a wrist connecting piece, a wrist body, and a hollow speed reducer. One end of the wrist connecting piece is used to be installed on the robot's forearm. The other end of the wrist connecting piece is provided with a "C"-shaped mounting notch. The wrist body is arranged in the mounting notch and is rotatably connected to the wrist connecting piece on both sides. One side of the wrist body is connected to the motor A installed in the wrist connecting piece and is driven by the motor A to rotate relative to the wrist connecting piece around the J5 axis. The hollow speed reducer is installed on the wrist body. The output end of the hollow speed reducer is provided with a connecting flange for connecting the end effector. The connecting flange is driven by the motor B installed in the wrist connecting piece to rotate around the J6 axis; it also includes a transmission chain, which includes a gear mounting shaft, a bevel gear set, and a seal B. The gear mounting shaft is rotatably installed on the other side of the wrist body by a bearing B and is connected to the motor B installed in the wrist connecting piece and is driven by the motor B to rotate around the J5 axis. The input bevel gear of the bevel gear set is fixed and rotates synchronously with the gear mounting shaft. The output bevel gear is installed on the output end of the hollow speed reducer and meshes with the input bevel gear. The bevel gear set is used to convert the rotation of the J5 axis of the gear mounting shaft into the rotation of the J6 axis of the connecting flange. The seal B is arranged on the gear mounting shaft to prevent the lubricating oil of the bevel gear set from leaking.

[0008] As a further improvement of the present invention, the wrist connecting piece includes a connecting piece body with a hollow structure, a connecting piece arm A, and a connecting piece arm B. One end of the connecting piece body is used to be installed on the robot's forearm. The connecting piece arm A and the connecting piece arm B are fixed to the other end of the connecting piece body and form a mounting notch with the connecting piece body. A speed reducer is installed on the connecting piece arm A. The input end of the speed reducer is connected to the motor A. One side of the wrist body is connected to the output end of the speed reducer. A bearing support sleeve is arranged on the connecting piece arm B. An installation groove B is formed by concaving the other side of the wrist body. The bearing support sleeve extends into the installation groove B. The wrist body is rotatably connected to the connecting piece arm B by a bearing A sleeved on the bearing support sleeve. The bearing A and the output end of the speed reducer are coaxial.

[0009] As a further improvement of the present invention, it also includes a seal A, which is sleeved on the bearing support sleeve and fits with the wrist body to prevent the lubricating oil of the bearing A from leaking.

[0010] As a further improvement of the present invention, the transmission chain also includes a pulley connecting part formed at the central part of the installation groove B. The pulley connecting part is cylindrical and is coaxial with the bearing A. The gear mounting shaft is of a cylindrical structure. The bearing B is sleeved on the pulley connecting part.

[0011] As a further improvement of the present invention, the transmission chain also includes a bearing cover A and a bearing cover B. The bearing cover A is fixed on the pulley connecting part and is used to press the inner ring of the bearing B. The bearing cover B protrudes on one side toward the bearing B to form an annular protrusion, and the protrusion presses against the outer ring of the bearing B. The bearing cover B is fixedly connected to the gear mounting shaft, and the bearing cover B is connected to the motor B. The motor B drives the gear mounting shaft to rotate via the bearing cover B, and the gear mounting shaft then drives the hollow reducer to rotate via the bevel gear group.

[0012] As a further improvement of the present invention, the transmission chain also includes an output pulley B, which is fixedly connected to the bearing cover, the output shaft of the motor B faces one side of the connecting arm B, and an input pulley B is installed on the output shaft of the motor B, and the input pulley B and the output pulley B are connected by a synchronous belt B.

[0013] As a further improvement of the present invention, the output shaft of motor A faces one side of the connecting arm A, and an input pulley A is installed on the output shaft of motor A, and an output pulley A is installed on the input end of the reducer, and the output pulley A and the input pulley A are connected by a synchronous belt A.

[0014] As a further improvement of the present invention, a reducer connecting plate is provided on the connecting arm A, the reducer is installed on the reducer connecting plate, the input end of the reducer passes through the reducer connecting plate and extends into the connecting arm A, and the output pulley A is located in the connecting arm A.

[0015] As a further improvement of the present invention, it also includes a wire sleeve, which is arranged in the hollow hole of the hollow reducer and is used for arranging wires.

[0016] As a further improvement of the present invention, it also includes a cover body A and a cover body B, which are respectively covered on both sides of the wrist connector, wherein the two ends of the cover body A are respectively matched with the connector body and the connector arm A, and the two ends of the cover body B are respectively matched with the connector body and the connector arm B.

[0017] To sum up, the beneficial effects of the present invention are as follows: the transmission of the rotation of the wrist body in the present invention is realized by synchronous belt transmission and a reducer, and the transmission of the end effector is realized by synchronous belt transmission, bevel gear transmission and a reducer. Compared with the prior art, the present invention arranges the bearing between the wrist connector and the wrist body, separates the transmission chain from the wrist connector, and achieves sealing through an oil seal to reduce noise. The present invention only uses a pair of meshing gear transmissions, which further reduces the noise when the robot wrist joint is in use.

[0018] The connector body of the present invention is convenient for connection with the robot forearm, and the space between the connector arm A and the connector arm B constitutes an installation gap, which can be used to connect the wrist body and allow the wrist body to rotate relative to the wrist connector. This structure connects both sides of the wrist body to the wrist connector, thereby improving the stability of the wrist body connection.

[0019] The space between the wrist support arm A and the wrist support arm B in the present invention facilitates wiring and reduces the weight of the wrist body.

[0020] By providing a mounting groove B on the wrist support arm B, the present invention allows the bearing support sleeve on the connecting arm B to extend into the interior of the wrist support arm B, so that the bearing A is arranged between the bearing support sleeve and the wrist body. The coaxial accuracy of the gear mounting shaft, the output pulley B and the wrist support arm A in the present invention is high.

[0021] In the present invention, the bearing cover A and the bearing cover B respectively cooperate with the inner ring and the outer ring of the bearing B to limit the axial movement of the bearing B, thereby further reducing the noise of the present invention.

[0022] The present invention is provided with an oil seal A to improve the sealing effect of the present invention, and the present invention is provided with an oil seal B to further improve the sealing effect of the present invention.

[0023] The present invention facilitates the connection between the reducer and the connecting arm A by providing a reducer connecting plate.

[0024] The present invention is provided with a wire sleeve, which facilitates the wiring of the present invention, prevents the harness from being worn due to external wiring, saves the interference space of the robot movement, and reduces the possibility of interference.

[0025] The present invention is provided with a cover body A and a cover body B, and the motor A, the motor B, the input pulley A, the output pulley A, the input pulley B, the output pulley B, the synchronous belt A and the synchronous belt B are enclosed in the wrist connector. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention.

[0027] Among them: 1. Motor B; 2. Input pulley B; 3. Synchronous belt B; 4. Output pulley B; 5. Bearing cover B; 6. Bearing cover A; 7. Gear mounting shaft; 8. Oil seal B; 9. Bearing support sleeve; 10. Oil seal A; 11. Bearing A; 12. Wrist body; 13. Hollow reducer; 14. Connecting flange; 15. Input bevel gear; 16. Output bevel gear; 17. Wire sleeve; 18. Reducer; 19. Reducer connecting plate; 2 0. Output pulley A; 21. Synchronous belt A; 22. Input pulley A; 23. Motor A; 24. Wrist connector; 25. Bearing B; 121. Wrist body; 122. Wrist support arm A; 123. Wrist support arm B; 124. Mounting slot B; 125. Pulley connection; 126. Connection slot; 241. Connector body; 242. Connector support arm A; 243. Connector support arm B; 244. Cover A; 245. Cover B. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0029] like Figure 1The gear robot wrist joint shown includes a wrist connector 24, a reducer 18, a motor A23, a wrist body 12, a hollow reducer 13, a motor B1 and a transmission chain, wherein the transmission chain includes a gear mounting shaft 7, a bevel gear set and an oil seal B8. One end of the wrist connector 24 is mounted on the robot forearm in the use state, and the reducer 18 is mounted on the wrist connector 24. The reducer 18 has an input end and an output end. An output pulley A20 is installed at the input end of the reducer 18. There is no relative rotation between the output pulley A20 and the output end of the reducer 18. The motor A23 is installed at the wrist connector The output end of the motor A23 is provided with an input pulley A22, and the input pulley A22 is connected to the output pulley A20 by a synchronous belt A21. One side of the wrist body 12 is connected to the output end of the reducer 18, and the other side of the wrist body 12 is rotatably connected to the wrist connecting piece 24. The wrist body 12 can be driven by the motor A23 to drive the synchronous belt A21 and after being decelerated by the reducer 18, and can rotate around the J5 axis relative to the wrist connecting piece 24. The hollow reducer 13 is installed on the end of the wrist body 12 away from the wrist connecting piece 24. The hollow reducer 13 has an input end and an output end. The hollow reducer 13 The output end of the wrist body 12 is provided with a connecting flange 14, and the connecting flange 14 is used to connect the end effector when in use. The motor B1 is installed in the wrist connecting member 24, and the output shaft of the motor B1 is parallel to the output shaft of the motor A23 and in opposite directions. The output shaft of the motor B1 is provided with an input pulley B2, and an output pulley B4 is rotatably provided on the side of the wrist body 12 away from the reducer 18. In the present invention, the center line of the output pulley B4 coincides with the center line of the output pulley A20, and the input pulley B2 and the output pulley B4 are connected by a synchronous belt B3, wherein the input bevel gear 15 of the bevel gear set is fixed to the output pulley B4. The motor B1 drives the output pulley B4 to rotate via the synchronous belt B3, and the input bevel gear 15 rotates synchronously with the output pulley B4. The output bevel gear 16 of the bevel gear set is installed on the output end of the hollow reducer 13 and meshes with the input bevel gear 15. Due to the meshing relationship between the input bevel gear 15 and the output bevel gear 16, when the input bevel gear 15 rotates, the output bevel gear 16 is driven to rotate, thereby driving the hollow reducer 13 to rotate, so that the motor B1 drives the connecting flange 14 to rotate around the J6 axis, so that the end effector connected to the connecting flange 14 rotates around the J6 axis. In the present invention, the wrist body 12 rotates relative to the J5 axis of the wrist connector 24 by the synchronous belt A21, and the J6 axis of the end effector rotates, which is driven by the synchronous belt B3 and the bevel gear set.

[0030] like Figure 1As shown in the figure, the wrist connecting member 24 in the present invention includes a connecting member body 241 with a hollow structure, a connecting member arm A 242, and a connecting member arm B 243. One end of the connecting member body 241 is used to be installed on the robot's forearm. The connecting member arm A 242 and the connecting member arm B 243 are fixed to the other end of the connecting member body 241. The connecting member body 241, the connecting member arm A 242, and the connecting member arm B 243 are integrally formed, and the three form a "C"-shaped mounting notch. The wrist body 12 is rotatably installed in the mounting notch, and a U-shaped space for installing the wrist body 12 and allowing the wrist body 12 to rotate is formed between the connecting member arm A 242 and the connecting member arm B 243. Among them, the motor A 23 and the motor B 1 are both detachably installed in the connecting member body 241 by bolts. The output shafts of the motor A 23 and the motor B 1 are installed in opposite directions. The output shaft of the motor A 23 faces the side of the connecting member arm A 242 and is perpendicular to the connecting member arm A 242, while the output shaft of the motor B 1 faces the side of the connecting member arm B 243 and is perpendicular to the connecting member arm B 243. The speed reducer 18 is arranged on the side of the connecting member arm A 242 facing the connecting member arm B 243. The input end of the speed reducer 18 extends into the connecting member arm A 242. The output pulley A 20 is located in the connecting member arm A 242. The synchronous belt A 21 extends from the connecting body into the connecting member arm A 242 and connects the input pulley A 22 and the output pulley A 20. The output pulley B 4 is located in the connecting member arm B 243. The synchronous belt B 3 extends from the connecting body into the connecting member arm B 243 and connects the input pulley B 2 and the output pulley B 4.

[0031] As Figure 1 As shown in the figure, the wrist body 12 in the present invention includes a wrist body 121, a wrist arm A 122, and a wrist arm B 123. The wrist arm A 122 and the wrist arm B 123 are located at the same end of the wrist body 121 and are both fixedly connected to the wrist body 121. The wrist arm A 122 and the wrist arm B 123 are parallel. The wrist body 121, the wrist arm A 122, and the wrist arm B 123 in the present invention are integrally formed to ensure the overall strength of the wrist body 12. The wrist arm A 122 is connected to the output end of the speed reducer 18. The output pulley B 4 is arranged in the wrist arm B 123. Among them, the J5 axis is perpendicular to the wrist arm A 122 and the wrist arm B 123.

[0032] As Figure 1As shown, the wrist support arm B123 in the present invention has an annular mounting groove B124 on the side away from the wrist support arm A122, the center line of the mounting groove B124 coincides with the J5 axis, and a pulley connecting portion 125 with a circular cross-section is formed in the central portion of the mounting groove B124, and an annular connecting groove 126 is provided on one end of the connector body 241 close to the connector support arm A242 and the connector support arm B243, and the connecting groove 126 is perpendicular to and communicates with the mounting groove B124, and a bearing support sleeve 9 is provided on the connector arm B243, and the bearing support sleeve 9 is detachably connected to the connector arm B243 by a plurality of bolts, and a bearing A11 is sleeved on the bearing support sleeve 9, and the bearing A11 extends into the mounting groove B124 and is rotatably mounted with the wrist support arm B123. The present invention effectively improves the installation of the output pulley B4 and the wrist body 12 by arranging the bearing A11 between the bearing support sleeve 9 and the wrist body 12. The coaxiality of the bearing A11 is matched with the cylindrical surface of the mounting groove B124 away from the pulley connection part 125, the inner ring of the bearing A11 is matched with the bearing support sleeve 9, and a hollow gear mounting shaft 7 is arranged in the bearing support sleeve 9. The gear mounting shaft 7 is rotatably mounted with the pulley connection part 125 by means of bearing B25, wherein the outer ring of the bearing B25 is matched with the inner cylindrical surface of the gear mounting shaft 7, the inner ring of the bearing B25 is matched with the pulley connection part 125, the output pulley B4 is fixed to the end of the gear mounting shaft 7 away from the reducer 18, the input bevel gear 15 is detachably mounted on the end of the gear mounting shaft 7 close to the reducer 18 by means of multiple bolts, and the output bevel gear 16 is located in the connecting groove 126. The present invention arranges the bearing between the wrist connecting piece and the wrist body, separates the transmission chain from the wrist connecting piece, and realizes sealing by means of an oil seal to reduce noise. The present invention as a whole only arranges a pair of bevel gears, which further reduces noise.

[0033] like Figure 1 As shown, the transmission chain in the present invention also includes a bearing cover B5 and a bearing cover A6, the diameter of the bearing cover A6 is larger than the diameter of the pulley connection part 125 and less than or equal to the outer diameter of the inner ring of the bearing B25, and is detachably mounted on the end of the pulley connection part 125 by at least one bolt, the edge of the bearing cover A6 presses the inner ring of the bearing B25, and the bearing cover B5 is fixed on the gear installation shaft 7, the edge of the bearing cover B5 is detachably connected to the end of the gear installation shaft 7 by multiple bolts, the bearing cover B5 protrudes toward the direction of the bearing B25 to form an annular protrusion, the protrusion abuts against the outer ring of the bearing B25, and the output pulley B4 is detachably mounted on the bearing cover B5 by bolts. The transmission of the present invention has high coaxiality accuracy and low noise.

[0034] like Figure 1As shown, the present invention is provided with an oil seal A10 on the bearing support sleeve 9, and the oil seal A10 is used to prevent the lubricating oil of the bearing A11 from leaking. An oil seal B8 is provided between the bearing support sleeve 9 and the gear mounting shaft 7, and the oil seal B8 is used to prevent the lubricating oil of the bevel gear set from leaking. The present invention has a good sealing effect.

[0035] like Figure 1 As shown, the present invention is provided with a reducer connecting plate 19 on the connecting arm A242, and the reducer 18 is installed on the reducer connecting plate 19. The input end of the reducer 18 passes through the reducer connecting plate 19 and extends into the connecting arm A242 and is installed with an output pulley A20. The present invention is provided with a wire sleeve 17, which is arranged in the hollow hole of the hollow reducer 13 and is used to arrange wires, such as the signal wire of the end effector and the air pipe or cable wire passing through the wire sleeve 17. The present invention has less wear on the wiring and less interference in the movement of the robot.

[0036] like Figure 1 As shown, the present invention is provided with a cover body A244 and a cover body B245, and the cover body A244 and the cover body B245 are respectively covered on both sides of the wrist connector 24, wherein the two ends of the cover body A244 are respectively matched with the connector body 241 and the connector arm A242, and are detachably installed with the connector body 241 and the connector arm A242 by using multiple bolts, and the two ends of the cover body B245 are respectively matched with the connector body 241 and the connector arm B243, and are detachably installed with the connector body 241 and the connector arm B243. In the present invention, the motor A23, the motor B1, the input pulley A22, the output pulley A20, the input pulley B2, the output pulley B4, the synchronous belt A21 and the synchronous belt B3 are enclosed inside the wrist connector 24 by the cover body A244 and the cover body B245.

[0037] The bearing A11 in the present invention is arranged between the bearing support sleeve 9 and the wrist body 12, which can effectively reduce the coaxiality accuracy problem between the transmission chains. By changing the bearing arrangement position, the transmission chain is isolated from the housing, and the noise caused by the vibration caused by the deformation of the housing during the transmission of the transmission chain is reduced. The deformation of the wrist connector 24 is separated from the transmission chain through this structure to form transmission isolation, reduce the influence of the deformation of the wrist connector 24 on the transmission chain, thereby achieving a noise reduction effect, and at the same time, the bearing support sleeve 9 is sealed with the transmission chain through an oil seal to achieve a sealing effect. The transmission chain in the present invention refers to a transmission structure composed of an output pulley B4, a bearing cover B5, a bearing cover A6, a bearing B25 and a pulley connection 125, and the housing refers to the housing of the connector arm B243 and the wrist arm B123.

[0038] The hollow reducer 13 is used at the end of the wrist of the present invention to realize hollow wiring. Compared with the external wiring harness solution of the traditional robot, it avoids the wear of the external wiring harness at the end, saves the interference space of the robot movement, and reduces the possibility of interference.

[0039] The parts not specifically described in the above description are all prior art, or can be implemented by prior art. Moreover, the specific implementation cases described in the present invention are only preferred implementation cases of the present invention, and are not used to limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made according to the content of the patent application scope of the present invention should be regarded as the technical scope of the present invention.

Claims

1. A gear robot wrist joint, comprising a wrist connecting piece (24), one end of the wrist connecting piece (24) is used for being installed on the robot's forearm, and the other end of the wrist connecting piece (24) is provided with a "C"-shaped mounting notch; a wrist body (12), the wrist body (12) is arranged in the mounting notch, and its two sides are rotatably connected with the wrist connecting piece (24). One side of the wrist body (12) is connected with a motor A (23) installed in the wrist connecting piece (24), and is driven by the motor A (23) to rotate relative to the wrist connecting piece (24) around the J5 axis; a hollow speed reducer (13), the hollow speed reducer (13) is installed on the wrist body (12), and a connecting flange (14) for connecting an end effector is arranged at the output end of the hollow speed reducer (13), and the connecting flange (14) is driven by a motor B (1) installed in the wrist connecting piece (24) to rotate around the J6 axis; It is characterized in that: It further includes a transmission chain, and the transmission chain includes a gear mounting shaft (7), the gear mounting shaft (7) is rotatably installed on the other side of the wrist body (12) by a bearing B (25), and is connected with a motor B (1) installed in the wrist connecting piece (24), and is driven by the motor B (1) to rotate around the J5 axis; a bevel gear set, its input bevel gear (15) is fixed and rotates synchronously with the gear mounting shaft (7), and the output bevel gear (16) is installed on the output end of the hollow speed reducer (13) and meshes with the input bevel gear (15). The bevel gear set is used for converting the rotation of the J5 axis of the gear mounting shaft (7) into the rotation of the J6 axis of the connecting flange (14); an oil seal B (8), the oil seal B (8) is arranged on the gear mounting shaft (7) to prevent the lubricating oil of the bevel gear set from leaking.

2. The gear robot wrist joint according to claim 1, characterized in that: The wrist connecting piece (24) includes a connecting piece body (241) with a hollow structure, a connecting piece support arm A (242) and a connecting piece support arm B (243). One end of the connecting piece body (241) is used for being installed on the robot's forearm, and the connecting piece support arm A (242) and the connecting piece support arm B (243) are fixed on the other end of the connecting piece body (241) and form a mounting notch with the connecting piece body (241); A speed reducer (18) is installed on the connecting piece support arm A (242), the input end of the speed reducer (18) is connected with the motor A (23), and one side of the wrist body (12) is connected with the output end of the speed reducer (18); A bearing support sleeve (9) is arranged on the connecting piece support arm B (243). An installation groove B (124) is formed by concave inward on the other side of the wrist body (12). The bearing support sleeve (9) extends into the installation groove B (124). The wrist body (12) is rotatably connected with the connecting piece support arm B (243) by a bearing A (11) sleeved on the bearing support sleeve (9), and the bearing A (11) is coaxial with the output end of the speed reducer (18).

3. The gear robot wrist joint according to claim 2, characterized in that: It also includes an oil seal A (10), which is sleeved on the bearing support sleeve (9) and fits with the wrist body (12) to prevent the lubricating oil of the bearing A (11) from leaking.

4. The gear robot wrist joint according to claim 2, characterized in that: The transmission chain further comprises a pulley connection portion (125) formed at the center of the mounting groove B (124); the pulley connection portion (125) is cylindrical and coaxial with the bearing A (11); the gear mounting shaft (7) is a cylindrical structure; and the bearing B (25) is sleeved on the pulley connection portion (125).

5. The gear robot wrist joint according to claim 4, characterized in that: The transmission chain also includes A bearing cover A (6), the bearing cover A (6) being fixed on the pulley connecting portion (125) and used for pressing the inner ring of the bearing B (25); A bearing cover B (5) is provided, wherein a ring-shaped protrusion is protruded on one side of the bearing cover B (5) toward the bearing B (25), and the protrusion abuts against the outer ring of the bearing B (25). The bearing cover B (5) is fixedly connected to the gear mounting shaft (7), and the bearing cover B (5) is connected to the motor B (1). The motor B (1) drives the gear mounting shaft (7) to rotate via the bearing cover B (5), and the gear mounting shaft (7) drives the hollow reducer (13) to rotate via the bevel gear set.

6. The gear robot wrist joint according to claim 5, characterized in that: The transmission chain also includes an output pulley B (4), the output pulley B (4) is fixedly connected to the bearing cover (5), the output shaft of the motor B (1) faces one side of the connecting arm B (243), and an input pulley B (2) is installed on the output shaft of the motor B (1), and the input pulley B (2) and the output pulley B (4) are connected by a synchronous belt B (3).

7. The gear robot wrist joint according to claim 2, characterized in that: The output shaft of the motor A (23) faces one side of the connecting arm A (242), and an input pulley A (22) is installed on the output shaft of the motor A (23), and an output pulley A (20) is installed on the input end of the reducer (18), and the output pulley A (20) and the input pulley A (22) are connected by a synchronous belt A (21).

8. The gear robot wrist joint according to claim 7, characterized in that: A reducer connecting plate (19) is provided on the connecting arm A (242), the reducer (18) is mounted on the reducer connecting plate (19), the input end of the reducer (18) passes through the reducer connecting plate (19) and extends into the connecting arm A (242), and the output pulley A (20) is located in the connecting arm A (242).

9. The gear robot wrist joint according to any one of claims 1 to 8, characterized in that: It also includes a wire sleeve (17), which is arranged in the hollow hole of the hollow reducer (13) and is used for arranging wires.

10. The gear robot wrist joint according to any one of claims 2 to 7, characterized in that: Also includes The cover body A (244) and the cover body B (245) are respectively covered on two sides of the wrist connector (24), wherein two ends of the cover body A (244) are respectively matched with the connector body (241) and the connector support arm A (242), and two ends of the cover body B (245) are respectively matched with the connector body (241) and the connector support arm B (243).

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