Transmission structure of long arm stretching robot

Abstract

An assembly type long shaft is arranged in the transmission structure of the long-arm-span robot, the assembly type long shaft is hollow and is divided into multiple sections in the length direction, and the transmission structure further comprises a bearing fixing sleeve riveted to the peripheral face of a certain section of the assembly type long shaft and used for being matched with a bearing; and the bearing spline housing is riveted on the inner wall of a certain section of the end part of the assembly type long shaft and is used for being matched with a bearing. The assembly type long shaft is in a hollow shape, compared with a solid shaft, the hollow shaft with the same diameter can bear the same maximum torque, and the strength is higher. More importantly, the whole shaft is split, and parts needing to be matched are machined and then connected with the shaft body. And the connection parts of the bearing, the spline and the like are riveted after being machined, so that the shaft cannot be deformed due to machining in the machining process, and the coaxiality and the tolerance of the bearing mounting position are ensured.

Description

Technical Field

[0001] The present invention belongs to the field of robot structure and processing technology, and specifically relates to a transmission structure of a long-arm-span robot, wherein the transmission structure is all or a part of the transmission structure of a robot arm. Background Art

[0002] The robotic arm is an important automation device that appeared in the late 1950s and has developed rapidly in recent years. It has now become an important means of realizing industrial automation. Although the robotic arm is not as flexible as human hands at present, it has the characteristics of being able to repeat work and labor tirelessly, not afraid of danger, and having greater strength to lift heavy objects than human hands. Therefore, the robotic arm has been paid attention to by many departments and enterprises and has been used more and more widely.

[0003] For robots with long arm spans, the prior art uses a long transmission shaft to transmit power from a motor to the robot's execution end, and the length is generally more than one meter, or the transmission shaft is divided into several short shafts for assembly.

[0004] Long shafts need rough turning, fine turning, heat treatment, grinding and other processing methods during processing. However, the shaft is too long and it is not easy to clamp during processing, and it is difficult to ensure the coaxiality of the two ends of the shaft and the cylindricity of the shaft itself, which makes processing difficult. Dividing a long shaft into several short shafts for use is likely to affect the operation of the equipment due to the accumulation of processing errors and assembly errors. At the same time, because the long shaft is divided into several short shafts, the assembly is more complicated. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, the present application provides a transmission structure of a long arm span robot.

[0006] The transmission structure of the long arm robot provided in the present invention is provided with an assembled long shaft, which is hollow and divided into multiple sections in the length direction, and also includes: a bearing fixing sleeve, riveted on the outer peripheral surface of a certain section of the assembled long shaft, for matching with the bearing; a bearing spline sleeve, riveted on the inner wall of a certain section of the assembled long shaft at the end, for matching with the bearing. The assembled long shaft described in the present application is hollow, and the maximum torque that can be borne by the hollow shaft is the same as that of the solid shaft with the same diameter, and the hollow shaft saves more materials. During heat treatment during processing, only the outer surface of the solid shaft is strengthened, while the hollow shaft has both inner and outer sides strengthened, so the hollow shaft with the same diameter has higher strength. More importantly, in the present application, the whole shaft is split, and the parts that need to be matched are processed and connected to the shaft body. For the connection parts with bearings, splines, etc., the riveting method after processing is adopted, so that the shaft will not be deformed due to processing during the processing process, and the coaxiality and tolerance of the bearing installation position are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1A schematic diagram of the structure of the assembled long axis provided in the transmission structure of the long arm span robot provided in Example 1

[0008] Figure 2 A schematic diagram of the external structure of the transmission structure of the long arm span robot provided in Example 1;

[0009] Figure 3 A schematic diagram of the internal structure of the transmission structure of the long arm span robot provided in Example 1;

[0010] Figure 4 This is an enlarged schematic diagram of a portion of the transmission structure of the long arm span robot provided in Example 1;

[0011] Figure 5 This is an enlarged schematic diagram of another part of the transmission structure of the long arm span robot provided in Example 1;

[0012] Figure 6 This is an enlarged schematic diagram of the structure of the transmission structure of the long-arm-span robot provided in Example 1, including the fifth-axis and sixth-axis reducer parts. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] Example 1

[0015] This embodiment provides a transmission structure of a long arm span robot for use in the fourth axis, fifth axis and sixth axis of a six-axis arm robot, through which the motion and torque output by the motor 12 are transmitted to the joints of the fourth axis, fifth axis and sixth axis of the robot arm. Figure 2 and Figure 3 The fourth axis connecting rod 1 of the robot arm is used to install the fourth axis reducer 13, the third axis reducer 11 and the third axis motor 10. The fourth axis motor 121, the fifth axis motor 122 and the end motor 123 are also installed on the fourth axis connecting rod 1 through the three-axis fixing plate 9 and are located at the leftmost end (relative to Figure 2 direction in the middle).

[0016] One end of the connecting rod 3 of the long arm span robot is connected to the fourth axis connecting rod 1 through the adapter flange 2, and the other end is connected to the fourth axis connecting rod 4 and assembled with the fifth and sixth axis components.

[0017] The external structure of the five-sixth axis assembly includes a four-axis connecting rod 4, a six-axis structural component 5, a six-axis structural component end cover 6, a sixth-axis reducer and end 7, and a fifth-axis reducer 8.

[0018] In this embodiment, refer to Figure 2 and Figure 3 , the output shafts of the fourth axis motor 121, the fifth axis motor 122 and the end motor 123 of the long arm span robot are located on the same straight line;

[0019] Combination Figure 4 The transmission structure between the fourth-axis motor 121 and the fourth-axis reducer 13 includes:

[0020] The fourth-axis cylindrical spur gear 16 is connected to the output shaft of the fourth-axis motor 121;

[0021] The fourth shaft cylindrical internal gear 17, the inner ring of which is meshed with the fourth shaft cylindrical spur gear 16, and the fourth shaft reducer 13 is coaxially connected with the fourth shaft cylindrical internal gear 17;

[0022] In this embodiment, the fourth shaft reducer 13 and the fourth shaft cylindrical internal gear 17 are transmitted via the fourth shaft transmission spur gear shaft 18 .

[0023] The transmission structure between the fourth-axis motor 121 and the fourth-axis reducer 13 uses internal meshing for transmission, which solves the problem that when the motor needs to output high torque and use a gear set with a large reduction ratio under heavy load requirements, the external meshing method will make the overall device too large.

[0024] Reference Figure 3 In the present embodiment, the fourth shaft transmission spur gear shaft 18 transmits power to the front end and then transmits torque to the fourth shaft reducer 13 through the fourth shaft reducer input driven gear 19 meshing therewith.

[0025] Combination Figure 5 The transmission structure between the fifth-axis motor 122 and the fifth-axis reducer 8 includes:

[0026] The fifth-axis cylindrical spur gear 14 is connected to the output shaft of the fifth-axis motor 122;

[0027] The fifth shaft transmission shaft 20 comprises a first end and a second end. The first end of the fifth shaft transmission shaft 20 is driven to rotate by the fifth shaft cylindrical spur gear 14 through a set of intermediate gear sets; the second end of the fifth shaft transmission shaft 20 is connected to the first end of the fifth shaft transmission tube 23 through a spline;

[0028] A fifth shaft transmission tube 23, comprising a first end and a second end, wherein the second end of the fifth shaft transmission tube 23 is connected to the fifth shaft bevel gear 24;

[0029] The fifth-shaft bevel gear shaft 27 is meshed with the fifth-shaft bevel gear 24 , and the fifth-shaft reducer 8 is coaxially connected with the fifth-shaft bevel gear shaft 27 ; the fifth-shaft bevel gear shaft 27 and the central axis of the fifth-shaft bevel gear 24 are perpendicular to each other.

[0030] Combination Figure 6 The transmission structure between the end motor 123 and the sixth axis reducer 7 includes:

[0031] The assembled long shaft 21 comprises a first end 15 and a second end, wherein the first end 15 of the assembled long shaft 21 is connected to the output shaft of the terminal motor 123, and the second end of the assembled long shaft 21 is connected to the first six-axis arc bevel gear shaft 22 via a spline;

[0032] The second six-axis arc bevel gear shaft 25 is meshed with the first six-axis arc bevel gear shaft 22 ; and the central axes of the second six-axis arc bevel gear shaft 25 and the first six-axis arc bevel gear shaft 22 are perpendicular to each other.

[0033] Reference Figure 1 In the transmission structure of the long arm span robot in this embodiment, the assembled long shaft 21 is hollow and divided into multiple sections in the length direction, and also includes:

[0034] A bearing fixing sleeve 212 is riveted to a certain section of the outer circumference of the assembled long shaft 21 and is used to cooperate with the bearing;

[0035] The bearing spline sleeve 214 is riveted to the inner wall of a certain section of the assembled long shaft 21 at the end, and is used to cooperate with the bearing.

[0036] In addition, the outer circumferential surface of the bearing spline sleeve 214 is provided with a step, and the step on the outer circumferential surface of the bearing spline sleeve 214 abuts against the end surface of the assembled long shaft, and the end of the bearing spline sleeve 214 with a smaller diameter is inserted into the assembled long shaft.

[0037] The second end of the assembled long shaft 21 is connected to the first six-axis arc bevel gear shaft 22 through the bearing spline sleeve 214 .

[0038] The first end of the assembled long shaft 21 is connected to the output shaft of the terminal motor 123 through a motor connector 211;

[0039] The motor connector 211 is provided with a keyway which is symmetrical with respect to the center of the axis, and the motor connector 211 is formed by cold pressing.

[0040] The fourth shaft reducer input driven gear 19 is supported on the assembled long shaft 21 through a bearing installed in a bearing fixing sleeve 212 .

[0041] The third six-axis arc bevel gear shaft 28 is meshed with the second six-axis arc bevel gear shaft 25, and the central axes of the third six-axis arc bevel gear shaft 28 and the second six-axis arc bevel gear shaft 25 are perpendicular to each other, and the sixth-axis reducer 7 is coaxially connected to the third six-axis arc bevel gear shaft 28.

[0042] In this embodiment, the fifth-axis transmission shaft 20 is a hollow shaft, the assembled long shaft 21 is arranged in the inner cavity of the fifth-axis transmission shaft 20, and the axis of the assembled long shaft 21 and the fifth-axis transmission shaft 20 are parallel to each other. The above technical solution reduces the weight of the transmission shaft, facilitates installation and processing, and can reduce the deadweight of the equipment and the load and motion inertia of the motion joints during use.

[0043] The transmission shaft of the transmission device uses a hollow shaft. The maximum torque that a hollow shaft and a solid shaft of the same diameter can withstand is the same, but the hollow shaft can obviously save materials. In actual use, the shaft often needs to be heat treated, and the surface of the material is often strengthened more than the core. Only the outer surface of the solid shaft is strengthened, while the hollow shaft is strengthened on both the inside and outside, so the hollow shaft of the same diameter has higher strength.

[0044] In this embodiment, a spline connection is used to replace the existing coupling connection in the split part of the transmission shaft, which has the following advantages: 1) The spline has a more uniform connection force; 2) The stress concentration at the root of the tooth is smaller, and the strength of the shaft and the hub is less weakened; 3) The number of teeth is large, the total contact area is large, and a larger load can be sustained; 4) The parts on the shaft have good concentricity with the shaft; the guiding property is better; 5) The processing accuracy and connection quality can be improved by cutting.

[0045] Combination Figure 6 In this embodiment, two second six-axis arc bevel gear shafts 25 are arranged, and the two second six-axis arc bevel gear shafts 25 are driven by spur gears 26. One of the second six-axis arc bevel gear shafts 25 is meshed with the first six-axis arc bevel gear shaft 22, and the other second six-axis arc bevel gear shaft 25 is meshed with the third six-axis arc bevel gear shaft 28. The power is transmitted to the sixth-axis reducer 7 through the above structure.

[0046] In a preferred embodiment, the tail end of the fifth-shaft bevel gear shaft 27 is provided with an external thread, and a nut is configured to be connected to the external thread at the tail end of the fifth-shaft bevel gear shaft 27; and / or

[0047] The tail end of the second six-axis arc bevel gear shaft 25 is provided with an external thread, and a nut is configured to be connected to the external thread at the tail end of the fifth-axis bevel gear shaft 27 .

[0048] In this embodiment, the tail end of the fifth-shaft bevel gear shaft 27 is provided with an external thread, and a nut is configured to be connected to the external thread at the tail end of the fifth-shaft bevel gear shaft 27; and

[0049] The tail end of the second six-axis arc bevel gear shaft 25 is provided with an external thread, and a nut is configured to be connected to the external thread at the tail end of the fifth-axis bevel gear shaft 27 .

[0050] The first six-axis arc bevel gear shaft 22 and the five-axis transmission tube 23 are installed on the four-axis connecting rod 4. The two second six-axis arc bevel gears 25 are respectively installed on the first six-axis bearing seat 31 and the second six-axis bearing seat 32 through tapered roller bearings. The end of the second six-axis arc bevel gear 25 is a threaded structure. Because the tapered roller bearing has a certain amount of clearance in the axial direction, the axial position of the second six-axis arc bevel gear 25 can be adjusted by screwing the round nut 29, thereby ensuring the meshing distance with the six-axis arc bevel gear shaft 22 and the third six-axis arc bevel gear 28. After the adjustment is completed, the round nut 29 is fixed with a locking washer 30 to prevent the round nut 29 from loosening due to vibration and other reasons during use.

[0051] At the transmission position of the fifth and sixth axes, an integrated bevel gear shaft is used, and the contact of the bevel gear shaft is adjusted by utilizing the axial clearance of the tapered roller bearing and the threaded locking method at the end of the bevel gear shaft. The integrated bevel gear shaft can reduce the force and damage to the fastening screws caused by vibration and improper displacement during use; in this embodiment, the threaded fastening method at the end of the tapered roller bearing and the bevel gear shaft can ensure that the meshing between the two bevel gears can be ensured by adjusting the axial position of the bevel gear shaft when there is a certain deviation in processing and installation.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The transmission structure of the long arm span robot is characterized by: The terminal motor (123) of the terminal motion joint of the long arm span robot is installed at the position of the motion joint adjacent to or spaced from it; the terminal motor (123) is connected to the terminal motion joint via an assembled long shaft (21); The assembled long shaft (21) is hollow and divided into multiple sections in the length direction, and further comprises: A bearing fixing sleeve (212) is riveted to a certain section of the outer peripheral surface of the assembled long shaft and is used to cooperate with the bearing; A bearing spline sleeve (214) is riveted to the inner wall of a certain section of the assembled long shaft at the end, and is used to cooperate with the bearing.

2. The transmission structure of the long arm span robot according to claim 1, characterized in that: The outer circumferential surface of the bearing spline sleeve (214) is provided with a step, and the step on the outer circumferential surface of the bearing spline sleeve (214) abuts against the end surface of the assembled long shaft, and the end of the bearing spline sleeve (214) with a smaller diameter is inserted into the assembled long shaft.

3. The transmission structure of the long arm span robot according to claim 1, characterized in that: The long arm span robot comprises 6 motion joints; The end motor is installed at the position of the fourth motion joint; and The output shafts of the fourth axis motor (121), the fifth axis motor (122) and the end motor (123) of the robot are located on the same straight line.

4. The transmission structure of the long arm span robot according to claim 3, characterized in that: The transmission structure between the fourth-axis motor (121) and the fourth-axis reducer (13) comprises: A fourth-axis cylindrical spur gear (16), connected to the output shaft of the fourth-axis motor 121; The inner ring of the fourth shaft cylindrical internal gear (17) is meshed with the fourth shaft cylindrical spur gear (16), and the fourth shaft reducer (13) is coaxially connected with the fourth shaft cylindrical internal gear (17).

5. The transmission structure of the long arm span robot according to claim 4, characterized in that: The transmission structure between the fifth-axis motor (122) and the fifth-axis reducer (8) comprises: A fifth-axis cylindrical spur gear (14), connected to the output shaft of the fifth-axis motor 122; A fifth shaft transmission shaft (20) comprises a first end and a second end, wherein the first end of the fifth shaft transmission shaft (20) is driven to rotate by the fifth shaft cylindrical spur gear (14) via a set of intermediate gear sets; the second end of the fifth shaft transmission shaft (20) is connected to the first end of the fifth shaft transmission tube (23); A fifth shaft transmission tube (23) comprises a first end and a second end, wherein the second end of the fifth shaft transmission tube (23) is connected to a fifth shaft bevel gear (24); The fifth-shaft bevel gear shaft (27) is meshed with the fifth-shaft bevel gear (24), and the fifth-shaft reducer 8 is coaxially connected with the fifth-shaft bevel gear shaft (27).

6. The transmission structure of the long arm span robot according to claim 5, characterized in that: The transmission structure between the end motor (123) and the sixth axis reducer (7) comprises: An assembled long shaft (21) comprising a first end and a second end, wherein the first end of the assembled long shaft (21) is connected to the output shaft of the terminal motor (123), and the second end of the assembled long shaft (21) is connected to the first six-axis arc bevel gear shaft (22); A second six-axis arc bevel gear shaft (25) meshing with the first six-axis arc bevel gear shaft (22); The third six-axis arc bevel gear shaft (28) is meshed with the second six-axis arc bevel gear shaft (25); the sixth-axis reducer (7) is coaxially connected with the third six-axis arc bevel gear shaft (28).

7. The transmission structure of the long arm span robot according to claim 6, characterized in that: The fifth shaft transmission shaft (20) is in the shape of a hollow shaft, the assembled long shaft (21) is arranged in the inner cavity of the fifth shaft transmission shaft (20), and the axes of the assembled long shaft (21) and the fifth shaft transmission shaft (20) are parallel to each other.

8. The transmission structure of the long arm span robot according to claim 6, characterized in that: The second end of the assembled long shaft (21) is connected to the first six-axis arc bevel gear shaft (22) via the bearing spline sleeve (214).

9. The transmission structure of the long arm span robot according to claim 6, characterized in that: The first end of the assembled long shaft (21) is connected to the output shaft of the terminal motor (123) via a motor connector (211); The motor connecting piece (211) is provided with a keyway which is symmetrical with respect to the center of the axis, and the motor connecting piece (211) is formed by cold pressing.

10. The transmission structure of the long arm span robot according to claim 4, characterized in that: The fourth shaft transmission spur gear shaft (18) transmits power to the fourth motion joint and transmits torque to the fourth shaft reducer (13) through the fourth shaft reducer input driven gear (19) meshing therewith; The fourth shaft reducer input driven gear (19) is supported on the assembled long shaft (21) via a bearing mounted on a bearing fixing sleeve (212).

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