Robot wrist structure and robot with same

Abstract

The invention provides a robot wrist structure and a robot with the robot wrist structure, and the robot wrist structure comprises a wrist part which comprises a first shell, a tail end flange is rotatably arranged in the first shell around the axis of the first shell, one end of the tail end flange is used for being connected with a tail end execution component, and the tail end flange is of a hollow structure; the wrist part is rotatably connected with the arm part, the arm part comprises a second shell, a first transmission mechanism and a second transmission mechanism, the first transmission mechanism and the second transmission mechanism are arranged in the second shell, the first transmission mechanism is in transmission connection with the first shell, and at least part of the second transmission mechanism is in transmission connection with the tail end flange; and the first shell and the tail end flange are driven to rotate correspondingly, so that the problem that in the prior art, a robot wrist structure is large in size, the number of machining parts is large, and consequently cables and pipelines cannot penetrate through the double-support wrist part and are wrapped and protected is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot wrist structure and a robot having the same. Background Art

[0002] At present, welding robots play a vital role in modern manufacturing, especially in the fields of automobile manufacturing, home appliances, aerospace, etc. They can improve production efficiency, ensure the consistency of welding quality, and reduce labor costs and safety risks at work. The wrist structure of existing welding robots, especially the six-degree-of-freedom robots, generally adopts a double support structure in the wrist design. Due to the special environmental restrictions of welding, welding gun cables, air pipes, and other cables need to pass through the inside of the robot and directly connect to the robot's end effector. This wiring method is easy to maintain and avoids the pipeline hanging outside the robot arm, which poses a hidden danger to production safety.

[0003] However, the traditional double-support wrist structure is generally large in size, has a large number of machined parts, and is difficult to assemble. This structure is not only compact, but also limits the range of motion of the 5-axis to a certain extent, making it impossible to achieve a wider range of posture adjustments, affecting the robot's adaptability and flexibility on complex welding paths. As a result, the welding gun cable, air pipe, and other cables cannot pass through the robot wrist, the cables and pipes cannot be effectively wrapped, and the pipes are suspended outside the robot arm, posing a hidden danger to production safety. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot wrist structure and a robot having the same, so as to solve the problem in the prior art that the robot wrist structure is large in size and has a large number of machined parts, resulting in cables and pipes being unable to pass through the double-support wrist and be wrapped and protected.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a robot wrist structure is provided, including: a wrist portion, including a first shell, an end flange is rotatably provided in the first shell around its axis, one end of the end flange is used to connect the end execution component, and the end flange is a hollow structure; an arm portion, the wrist portion is rotatably connected to the arm portion, the arm portion includes a second shell and a first transmission mechanism and a second transmission mechanism respectively arranged in the second shell, the first transmission mechanism is transmission-connected to the first shell, and at least a part of the second transmission mechanism is transmission-connected to the end flange to respectively drive the first shell and the end flange to rotate.

[0006] Furthermore, a first driving component is provided in the second housing, and the first transmission mechanism includes: a first synchronous wheel connected to the output shaft of the first driving component; a reducer arranged in the second housing, a second synchronous wheel is provided on the input end of the reducer, the first synchronous wheel and the second synchronous wheel are respectively wound on the first synchronous belt, and the output end of the reducer is connected to the first housing so that when the first driving component drives the first synchronous wheel to rotate, the reducer drives the first housing to rotate.

[0007] Furthermore, the first transmission mechanism also includes: a transition flange, one end of the transition flange is connected to the output end of the reducer, and the other end of the transition flange is connected to the first shell, so that when the first driving component drives the reducer to operate, it drives the first shell to rotate relative to the second shell.

[0008] Furthermore, a hyperbolic gear connected to the end flange is provided in the first housing, and the second transmission mechanism includes: a hyperbolic gear shaft, which is rotatably passed through the reducer, and one end of the hyperbolic gear shaft extends into the first housing and is meshed with the hyperbolic gear, so that when the hyperbolic gear shaft rotates, it drives the end flange to rotate.

[0009] Furthermore, the second transmission mechanism also includes: a transmission assembly, which is arranged in the second housing, the transmission assembly includes a rotatably arranged mounting shaft, a third synchronous wheel is provided on the mounting shaft, a fourth synchronous wheel is provided on the end of the hyperbolic gear shaft away from the hyperbolic gear, the third synchronous wheel and the fourth synchronous wheel are respectively wound around the second synchronous belt, so that when the mounting shaft rotates, the hyperbolic gear shaft is driven to rotate.

[0010] Furthermore, a second driving component is provided in the second housing, and the second transmission mechanism also includes: a fifth synchronous wheel, connected to the output shaft of the second driving component; a sixth synchronous wheel, arranged on the mounting shaft, and the fifth synchronous wheel and the sixth synchronous wheel are respectively wound around the third synchronous belt, so that when the second driving component drives the mounting shaft to rotate, the hypoid gear shaft is driven to rotate.

[0011] Furthermore, the first shell includes: a first connector, a second connector and a third connector connected in sequence, a transition flange is connected to the first connector and a first oil seal is provided between the transition flange and the first connector; an end flange is arranged in the second connector and the third connector, two tapered roller bearings are provided between the end flange and the second connector respectively, and a second oil seal and a third oil seal are provided between the end flange and two ends relatively far away from the second connector and the third connector respectively.

[0012] Furthermore, a first sleeve is provided in the internal bearing hole of the reducer, the hyperbolic gear shaft is passed through the first sleeve, a first angular contact ball bearing is provided between the first sleeve and the internal bearing hole of the reducer, a second angular contact ball bearing is provided between the hyperbolic gear shaft and the internal bearing hole of the reducer, and the first angular contact ball bearing and the second angular contact ball bearing are arranged relatively far apart.

[0013] Furthermore, the transmission assembly also includes: a bearing seat, which is arranged in the second shell, the mounting shaft is arranged in the mounting bearing hole on the bearing seat, two third angular contact ball bearings are relatively arranged between the mounting shaft and the mounting bearing hole, and a second sleeve is arranged between the two third angular contact ball bearings and the mounting shaft.

[0014] According to another aspect of the present invention, a robot is provided, comprising the robot wrist structure mentioned above.

[0015] By applying the technical solution of the present invention, a robot wrist structure is provided, including a wrist portion and an arm portion; the wrist portion includes a first shell, in which an end flange is rotatably provided around its axis, one end of the end flange is used to connect the end actuator, and the end flange is a hollow structure; the wrist portion is rotatably connected to the arm portion, and the arm portion includes a second shell and a first transmission mechanism and a second transmission mechanism respectively arranged in the second shell, the first transmission mechanism is transmission-connected to the first shell, and at least a part of the second transmission mechanism is transmission-connected to the end flange, so as to respectively drive the first shell and the end flange to rotate.

[0016] In this way, the wrist includes a first shell and a rotatable end flange, and the end flange is a hollow structure, so that cables, air pipes, etc. can pass through from the inside, and can effectively wrap and protect the cables and pipelines, reduce the layout of external pipelines, make the overall structure more compact, reduce the volume occupied by the robot in the workspace, improve flexibility and utilization of the workspace, and thus solve the problem that the robot wrist structure is large in volume and the number of machined parts is large, resulting in the inability of cables and pipelines to pass through the double-support wrist and be wrapped and protected. In addition, the first transmission mechanism and the second transmission mechanism respectively drive the first shell and the end flange to rotate, so that the robot wrist can independently control two rotational degrees of freedom, thereby achieving a wider range of motion and more sophisticated posture adjustment capabilities, and improving the adaptability and flexibility of the robot on complex welding paths. At the same time, the first transmission mechanism and the second transmission mechanism respectively drive the first shell and the end flange to rotate, and the first transmission mechanism and the second transmission mechanism are linked to achieve a three-stage reduction to replace the reducer, which can effectively bear the high torque of the output joint, reduce the cost of the robot, and improve the transmission accuracy, as well as the transmission stability and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 The overall structural schematic diagram of an embodiment of a robot wrist structure according to the present invention is shown;

[0019] Figure 2 A top view of the overall structure of an embodiment of a robot wrist structure according to the present invention is shown;

[0020] Figure 3 Shows Figure 2 Sectional view in the AA direction;

[0021] Figure 4 Shows Figure 3 Cross-sectional view in the BB direction;

[0022] Figure 5 A schematic structural diagram of a transmission assembly according to an embodiment of a robot wrist structure of the present invention is shown;

[0023] Figure 6 A front view of a transmission assembly according to an embodiment of a robot wrist structure of the present invention is shown;

[0024] Figure 7 Shows Figure 6 Cross-sectional view in CC direction;

[0025] Figure 8 A schematic structural diagram of a wrist portion of an embodiment of a robot wrist structure according to the present invention is shown;

[0026] Fig. 9 A front view of a wrist portion of an embodiment of a robot wrist structure according to the present invention is shown;

[0027] Fig.10 Shows Fig. 9 Cross-sectional view along the DD direction.

[0028] The above drawings include the following reference numerals:

[0029] 10. Wrist; 11. First housing; 110. First connector; 111. Second connector; 112. Third connector; 113. First seal ring; 114. Second seal ring; 115. Third seal ring; 12. End flange; 13. Hypoid gear; 14. First oil seal; 15. Tapered roller bearing; 16. Second oil seal; 17. Third oil seal;

[0030] 20. arm portion; 21. second housing; 22. first driving member; 23. second driving member; 24. first tensioning member; 25. second tensioning member; 26. third tensioning member;

[0031] 30. First transmission mechanism; 31. First synchronous wheel; 32. Speed ​​reducer; 320. First sleeve; 321. First angular contact ball bearing; 322. Second angular contact ball bearing; 33. Second synchronous wheel; 34. First synchronous belt; 35. Transition flange;

[0032] 40. Second transmission mechanism; 41. Hyperbolic gear shaft; 410. Fourth synchronous wheel; 42. Transmission assembly; 420. Mounting shaft; 421. Third synchronous wheel; 422. Bearing seat; 423. Mounting bearing hole; 424. Third angular contact ball bearing; 425. Second sleeve; 43. Second synchronous belt; 44. Fifth synchronous wheel; 45. Sixth synchronous wheel; 46. Third synchronous belt. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] In order to solve the problem in the prior art that the robot wrist structure is large in size and has a large number of machined parts, resulting in cables and pipes being unable to pass through the double-support wrist and be wrapped and protected, the present invention provides a robot wrist structure.

[0035] Please refer to Figures 1 to 10 As shown, the present invention provides a robot wrist structure, including a wrist portion 10 and an arm portion 20; the wrist portion 10 includes a first shell 11, in which an end flange 12 is rotatably provided around its axis, one end of the end flange 12 is used to connect the end execution component, and the end flange 12 is a hollow structure; the wrist portion 10 is rotatably connected to the arm portion 20, and the arm portion 20 includes a second shell 21 and a first transmission mechanism 30 and a second transmission mechanism 40 respectively arranged in the second shell 21, the first transmission mechanism 30 is transmission-connected to the first shell 11, and at least a part of the second transmission mechanism 40 is transmission-connected to the end flange 12, so as to respectively drive the first shell 11 and the end flange 12 to rotate.

[0036] By applying the technical solution of this embodiment, the wrist 10 includes a first shell 11 and a rotatable end flange 12, and the end flange 12 is a hollow structure, so that cables, air pipes, etc. can pass through from the inside, and at the same time, the cables and pipelines can be effectively wrapped to protect them, reducing the layout of external pipelines, making the overall structure more compact, reducing the volume occupied by the robot in the workspace, improving flexibility and utilization of the workspace, and thus solving the problem in the prior art that the robot wrist structure is large in volume and the number of machined parts is large, resulting in the inability of cables and pipelines to pass through the double-support wrist and be wrapped for protection. In addition, the first transmission mechanism 30 and the second transmission mechanism 40 respectively drive the first shell 11 and the end flange 12 to rotate, so that the robot wrist can independently control two rotational degrees of freedom, thereby achieving a wider range of motion and more sophisticated posture adjustment capabilities, and improving the adaptability and flexibility of the robot on complex welding paths. At the same time, the first transmission mechanism 30 and the second transmission mechanism 40 respectively drive the first shell 11 and the end flange 12 to rotate, and the first transmission mechanism 30 and the second transmission mechanism 40 are linked to achieve three-stage reduction to replace the reducer 32, which can effectively bear the high torque of the output joint, reduce the cost of the robot, and improve the transmission accuracy, as well as the transmission stability and accuracy.

[0037] like Figure 3 and Figure 4 As shown, the first driving component 22 is provided in the second housing 21, and the first transmission mechanism 30 includes a first synchronous wheel 31 and a reducer 32; the first synchronous wheel 31 is connected to the output shaft of the first driving component 22; the reducer 32 is arranged in the second housing 21, and a second synchronous wheel 33 is provided on the input end of the reducer 32, the first synchronous wheel 31 and the second synchronous wheel 33 are respectively wound on the first synchronous belt 34, and the output end of the reducer 32 is connected to the first housing 11, so that when the first driving component 22 drives the first synchronous wheel 31 to rotate, the reducer 32 drives the first housing 11 to rotate. In this embodiment, the first driving component 22 is a motor component and is fixed to the motor mounting plate in the second housing 21, and the first synchronous wheel 31 and the second synchronous wheel 33 are respectively connected and fixed to the output shaft of the first driving component 22 and the input end of the reducer 32 by keys and screws; wherein, the first synchronous wheel 31 and the second synchronous wheel 33 are driven by the first synchronous belt 34 to realize the first-stage reduction, and the second synchronous wheel 33 is fixed to the input end of the reducer 32 by screw connection to realize the second-stage reduction. Through the above arrangement, when the first driving component 22 rotates, the second synchronous wheel 33 is driven to rotate synchronously through the first synchronous wheel 31, and then the second synchronous wheel 33 drives the input end of the reducer 32 to rotate synchronously, thereby causing the first shell 11 to rotate, that is, realizing the relative rotation between the wrist 10 and the arm 20.

[0038] In this way, the torque is transmitted to the second synchronous wheel 33 on the reducer 32 disposed in the second housing 21 through the first synchronous wheel 31 and the first synchronous belt 34, thereby providing accurate torque transmission, improving the movement stability and operation accuracy of the robot wrist 10, having higher transmission efficiency, reducing energy loss, and making the robot more energy-efficient during operation. In addition, the use of the first synchronous wheel 31, the second synchronous wheel 33 and the first synchronous belt 34 simplifies the installation and maintenance process of the first transmission mechanism 30; wherein, the tension of the first synchronous belt 34 can be adjusted to ensure that the first transmission mechanism 30 can still maintain good transmission performance after long-term operation.

[0039] Specifically, the first transmission mechanism 30 further includes a transition flange 35, one end of which is connected to the output end of the reducer 32, and the other end of the transition flange 35 is connected to the first housing 11, so that when the first driving component 22 drives the reducer 32 to operate, the first housing 11 is driven to rotate relative to the second housing 21. Through the above arrangement, the transition flange 35, as an intermediary for torque transmission, can effectively transmit the rotational torque output by the reducer 32 to the first housing 11, so as to ensure that the power is smoothly and effectively transmitted from the arm 20 to the wrist 10 to drive the first housing 11 to rotate. At the same time, the use of the transition flange 35 can increase the connection strength and stability between the reducer 32 and the first housing 11, reduce vibration and noise under high dynamic motion, and improve the rigidity and reliability of the overall structure. And the connection between the reducer 32 and the first housing 11 through the transition flange 35 simplifies the installation process, so as to facilitate the maintenance and replacement of the first transmission mechanism 30, especially when it is necessary to adjust the relative position of the reducer 32 and the first housing 11 or replace the transmission component, the design of the transition flange 35 provides convenience.

[0040] In addition, the transition flange 35 can reduce the precision error that may be caused by directly connecting the reducer 32 and the first housing 11. Through the connection of the transition flange 35, the rotation of the first housing 11 can be more accurately controlled, and the positioning accuracy and repeated positioning accuracy of the wrist 10 can be improved. This allows the first transmission mechanism 30 to adapt to different output characteristics of the first drive component 22, such as different rotation speeds, torques, etc., thereby ensuring stable torque transmission under various working conditions, and improving the adaptability and flexibility of the first transmission mechanism 30.

[0041] like Figure 3 , 4As shown in FIG. 10 , a hypoid gear 13 connected to the end flange 12 is provided in the first housing 11, and the second transmission mechanism 40 includes a hypoid gear shaft 41, which is rotatably inserted into the reducer 32, and one end of the hypoid gear shaft 41 extends into the first housing 11 and is meshed with the hypoid gear 13, so that the end flange 12 can be driven to rotate when the hypoid gear shaft 41 rotates. When in use, the hypoid gear 13 is fixed to the end flange 12 by screws, and the hypoid gear 13 transmits the torque to the end flange 12 by meshing with the hypoid gear shaft 41, and realizes the third stage of reduction. Through the above arrangement, the robot wrist 10 can effectively save space, the overall structure is more compact, and the overall flexibility and adaptability are improved. At the same time, the hypoid gear 13 has a high transmission efficiency and precision, which can ensure the accuracy and stability of the end flange 12 when rotating, which is essential for the robot to perform precision operations such as welding and assembly. Furthermore, the meshing characteristics of the hyperbolic gear 13 can reduce vibration and noise during the transmission process, thereby improving the comfort of the working environment, while protecting other precision components of the robot wrist 10 from vibration and extending their service life.

[0042] like Figures 4 to 7 As shown, the second transmission mechanism 40 also includes a transmission assembly 42, which is arranged in the second housing 21. The transmission assembly 42 includes a rotatably arranged mounting shaft 420, a third synchronous wheel 421 is arranged on the mounting shaft 420, and a fourth synchronous wheel 410 is arranged on the end of the hypoid gear shaft 41 away from the hypoid gear 13. The third synchronous wheel 421 and the fourth synchronous wheel 410 are respectively wound on the second synchronous belt 43, so that when the mounting shaft 420 rotates, the hypoid gear shaft 41 is driven to rotate. In this embodiment, the transmission assembly 42 is fixed to the inside of the second housing 21 by screws, and the third synchronous wheel 421 and the fourth synchronous wheel 410 are respectively connected and fixed to the mounting shaft 420 and the hypoid gear shaft 41 by keys and screws. Through the above arrangement, the torque can be efficiently transmitted, ensuring that the torque transmission from the arm part 20 to the end flange 12 is smooth and accurate. Compared with the gear transmission, the synchronous belt transmission generates less noise during operation, which helps to create a quieter working environment and reduce interference to the operator. The vibration transmission to the hypoid gear shaft 41 is reduced, thereby improving the stability and service life of the robot wrist 10. At the same time, the design of the transmission assembly 42 enables the second transmission mechanism 40 to be arranged more compactly in the second housing 21, which is beneficial to reducing the volume of the robot wrist 10 and improving its operational flexibility in a narrow space.

[0043] In order to drive the hypoid gear shaft 41 to rotate, a second driving component 23 is provided in the second housing 21, and the second transmission mechanism 40 further includes a fifth synchronous wheel 44 and a sixth synchronous wheel 45; the fifth synchronous wheel 44 is connected to the output shaft of the second driving component 23; the sixth synchronous wheel 45 is arranged on the mounting shaft 420, and the fifth synchronous wheel 44 and the sixth synchronous wheel 45 are respectively wound on the third synchronous belt 46, so that when the second driving component 23 drives the mounting shaft 420 to rotate, the hypoid gear shaft 41 is driven to rotate. In this embodiment, the second driving component 23 is a motor component, and the fifth synchronous wheel 44 and the sixth synchronous wheel 45 are respectively connected and fixed on the output shaft of the second driving component 23 and the mounting shaft 420 by keys and screws; wherein the fifth synchronous wheel 44 and the sixth synchronous wheel 45 are driven by the third synchronous belt 46, realizing a first-stage reduction. Through the above arrangement, the second driving component 23 accurately transmits the torque to the sixth synchronous wheel 45 through the fifth synchronous wheel 44 and the third synchronous belt 46, thereby driving the mounting shaft 420 to rotate. This transmission method ensures the accuracy of torque transmission and ensures the stable driving of the hypoid gear shaft 41, thereby improving the movement accuracy and control ability of the robot wrist 10. At the same time, the synchronous belt, as a flexible transmission element, can absorb some vibrations during the transmission process and reduce the mechanical wear between the mounting shaft 420 and the hypoid gear shaft 41.

[0044] In the present application, a first tensioning component 24, a second tensioning component 25 and a third tensioning component 26 are respectively provided in the second shell 21. The first tensioning component 24, the second tensioning component 25 and the third tensioning component 26 are respectively used to adjust the tensioning force of the first synchronous belt 34, the second synchronous belt 43 and the third synchronous belt 46 to ensure good engagement of the synchronous belt transmission.

[0045] like Figures 8 to 10As shown, the first housing 11 includes a first connecting body 110, a second connecting body 111 and a third connecting body 112 connected in sequence, a transition flange 35 is connected to the first connecting body 110, and a first oil seal 14 is provided between the transition flange 35 and the first connecting body 110; the end flange 12 is arranged in the second connecting body 111 and the third connecting body 112, two tapered roller bearings 15 are provided between the end flange 12 and the second connecting body 111, and a second oil seal 16 and a third oil seal 17 are provided between the two ends of the end flange 12 that are relatively far from the second connecting body 111 and the third connecting body 112. Through the above arrangement, one end face of the transition flange 35 is fixed to the output end face of the reducer 32 by screws, and the other end face of the transition flange 35 is fixed to the plane of the first connecting body 110 by screws. The two tapered roller bearings 15 are respectively sleeved on the end flange 12 to bear the radial and bidirectional axial loads and overturning moment from the end flange 12, and the second connector 111 is sleeved on the two tapered roller bearings 15 to play a fixing role. At the same time, since the transition flange 35 is also a hollow structure, and the interior of the reducer 32 is also a hollow structure, the transition flange 35 is connected to the hollow part of the reducer 32. The design of the first oil seal 14 can effectively prevent the lubricating oil on the side of the hypoid gear 13 from overflowing into the hollow cavity of the reducer 32. The design of the second oil seal 16 and the third oil seal 17 can effectively prevent the lubricating oil on the side of the hypoid gear 13 from overflowing to the outside of the first housing 11.

[0046] In order to realize that the hypoid gear shaft 41 is installed inside the reducer 32, a first sleeve 320 is provided in the internal bearing hole of the reducer 32, the hypoid gear shaft 41 is inserted into the first sleeve 320, a first angular contact ball bearing 321 is provided between the first sleeve 320 and the internal bearing hole of the reducer 32, a second angular contact ball bearing 322 is provided between the hypoid gear shaft 41 and the internal bearing hole of the reducer 32, and the first angular contact ball bearing 321 and the second angular contact ball bearing 322 are arranged relatively far apart. In this embodiment, the inner and outer rings of the first angular contact ball bearing 321 are fixed by the first sleeve 320 and the internal bearing hole of the reducer 32, respectively, and the inner and outer rings of the second angular contact ball bearing 322 are fixed by the shaft shoulder of the hypoid gear shaft 41 and the internal bearing hole of the reducer 32, respectively. Through the above-mentioned arrangement, a first sleeve 320 is arranged between the inner rings of the first angular contact ball bearing 321 and the second angular contact ball bearing 322 to prevent the bearings from getting stuck when rotating, and the first angular contact ball bearing 321 and the second angular contact ball bearing 322 are installed back to back between the hypoid gear shaft 41 and the reducer 32 to fix the two and enable the overall structure to withstand the radial load and axial load generated by the fourth synchronous wheel 410 on the hypoid gear shaft 41, as well as the overturning moment, so that it can move smoothly during high-speed rotation, thereby improving the movement accuracy of the robot wrist 10.

[0047] like Figures 4 to 7 As shown, the transmission assembly 42 also includes a bearing seat 422, the bearing seat 422 is arranged in the second shell 21, the mounting shaft 420 is arranged in the mounting bearing hole 423 on the bearing seat 422, two third angular contact ball bearings 424 are relatively arranged between the mounting shaft 420 and the mounting bearing hole 423, and a second sleeve 425 is arranged between the two third angular contact ball bearings 424 and the mounting shaft 420.

[0048] In this embodiment, the bearing seat 422 is fixed to the inner plane of the second housing 21 by screws, the third synchronous wheel 421 and the sixth synchronous wheel 45 are respectively installed on the installation shaft 420 by keys and screws in a manner that the axes coincide, a third angular contact ball bearing 424 is installed in the installation bearing hole 423 of the bearing seat 422 close to the sixth synchronous wheel 45, and its inner and outer rings are respectively fixed by the shaft shoulder of the installation shaft 420 and the inner step surface of the bearing seat 422, and another third angular contact ball bearing 424 is installed in the installation bearing hole 423 of the bearing seat 422 away from the sixth synchronous wheel 45, and its inner and outer rings are respectively fixed by the screw gasket installed at one end of the installation shaft 420 and the inner step surface of the bearing seat 422. In this way, by installing the second sleeve 425 between the inner rings of the two third angular contact ball bearings 424, it can effectively prevent the bearings from getting stuck when rotating. In addition, two third angular contact ball bearings 424 are installed back-to-back between the mounting shaft 420 and the bearing seat 422 to fix the two and enable the overall structure to withstand the radial load and axial load generated by the third synchronous wheel 421 and the sixth synchronous wheel 45 on the mounting shaft 420, as well as the overturning moment, so that it can move smoothly during high-speed rotation, thereby improving the motion accuracy of the robot wrist 10. When in use, the sixth synchronous wheel receives the driving torque of the fifth synchronous wheel 44 and the third synchronous belt 46, and drives the third synchronous wheel 421 and the mounting shaft 420 to rotate coaxially.

[0049] Optionally, a first sealing ring 113 is provided between the end flange 12 and the first connector 110; a second sealing ring 114 is provided between the first connector 110 and the second connector 111; and a third sealing ring 115 is provided between the second connector 111 and the third connector 112. In this way, the provision of the sealing ring can effectively prevent external pollutants such as dust and moisture from entering the robot wrist 10, protect the precise transmission mechanism and electronic components from corrosion, maintain their good working condition, and extend their service life. At the same time, the sealing ring can also prevent the leakage of internal lubricating oil or coolant, maintain internal lubrication and cooling effects, and improve transmission efficiency and heat dissipation performance. In addition, the provision of sealing rings at key joints can significantly improve the protection level of the robot wrist 10, so that it can adapt to more demanding working environments, such as stable operation in humid and dusty industrial sites or clean room environments that require dust-free operation.

[0050] In the present application, a double-pulley configuration with a double angular contact ball bearing support structure (transmission component 42), a two-stage synchronous belt reduction and a high-rigidity hyperbolic gear 13 pairs of transmission are used to achieve a three-stage reduction to replace the reducer 32. The innovative design reduces the cost of the robot while improving the transmission accuracy. A deep groove ball bearing is configured at the end to improve the transmission stability and accuracy. The wrist has outstanding advantages in flexible wrist movement posture and small space application scenarios. The large hollow wrist has a small interference space, which is convenient for welding gun cables, air pipes, and other cables to pass through the inside of the robot. The wiring method is easy to maintain, and the cables and pipes can be effectively wrapped to protect them. It can meet the use conditions of welding robots and general six-axis robots at the same time.

[0051] In another aspect of the present invention, a robot is provided, which includes the above-mentioned robot wrist structure. By adopting the above-mentioned first transmission mechanism 30 and second transmission mechanism 40, the robot has higher flexibility and motion accuracy when performing complex tasks such as precision assembly and small parts operation, thereby improving production efficiency.

[0052] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0053] The robot wrist structure includes a wrist 10 and an arm 20; the wrist 10 includes a first shell 11, in which an end flange 12 is rotatably provided around its axis, one end of the end flange 12 is used to connect the end actuator, and the end flange 12 is a hollow structure; the wrist 10 is rotatably connected to the arm 20, and the arm 20 includes a second shell 21 and a first transmission mechanism 30 and a second transmission mechanism 40 respectively arranged in the second shell 21, the first transmission mechanism 30 is transmission-connected to the first shell 11, and at least a part of the second transmission mechanism 40 is transmission-connected to the end flange 12, so as to respectively drive the first shell 11 and the end flange 12 to rotate. In this way, the wrist 10 includes a first shell 11 and a rotatable end flange 12, and the end flange 12 is a hollow structure, so that cables, air pipes, etc. can pass through from the inside, and at the same time, the cables and pipelines can be effectively wrapped to protect them, reducing the layout of external pipelines, making the overall structure more compact, reducing the volume occupied by the robot in the workspace, improving flexibility and utilization of the workspace, and thus solving the problem in the prior art that the robot wrist structure is large in volume and the number of machined parts is large, resulting in the inability of cables and pipelines to pass through the double-support wrist and be wrapped for protection. In addition, the first transmission mechanism 30 and the second transmission mechanism 40 respectively drive the first shell 11 and the end flange 12 to rotate, so that the robot wrist can independently control two rotational degrees of freedom, thereby achieving a wider range of motion and more sophisticated posture adjustment capabilities, and improving the adaptability and flexibility of the robot on complex welding paths. At the same time, the first transmission mechanism 30 and the second transmission mechanism 40 respectively drive the first shell 11 and the end flange 12 to rotate, and the first transmission mechanism 30 and the second transmission mechanism 40 are linked to achieve three-stage reduction to replace the reducer 32, which can effectively bear the high torque of the output joint, reduce the cost of the robot, and improve the transmission accuracy, as well as the transmission stability and accuracy.

[0054] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0055] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0056] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0057] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0058] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot wrist structure, characterized in that: include: The wrist part (10) comprises a first shell (11), wherein an end flange (12) is rotatably provided in the first shell (11) around its axis, one end of the end flange (12) is used to connect to the end actuator, and the end flange (12) is a hollow structure; An arm portion (20), wherein the wrist portion (10) is rotatably connected to the arm portion (20), and the arm portion (20) comprises a second shell (21) and a first transmission mechanism (30) and a second transmission mechanism (40) respectively arranged in the second shell (21), wherein the first transmission mechanism (30) is transmission-connected to the first shell (11), and at least a portion of the second transmission mechanism (40) is transmission-connected to the end flange (12) to respectively drive the first shell (11) and the end flange (12) to rotate.

2. The robot wrist structure according to claim 1, characterized in that: A first driving component (22) is disposed in the second housing (21), and the first transmission mechanism (30) comprises: A first synchronous wheel (31) connected to the output shaft of the first driving component (22); A reducer (32) is arranged in the second housing (21); a second synchronous wheel (33) is arranged on the input end of the reducer (32); the first synchronous wheel (31) and the second synchronous wheel (33) are respectively wound on a first synchronous belt (34); an output end of the reducer (32) is connected to the first housing (11), so that when the first driving component (22) drives the first synchronous wheel (31) to rotate, the reducer (32) drives the first housing (11) to rotate.

3. The robot wrist structure according to claim 2, characterized in that: The first transmission mechanism (30) further comprises: A transition flange (35), one end of which is connected to the output end of the reducer (32), and the other end of which is connected to the first housing (11), so that when the first driving component (22) drives the reducer (32) to operate, the first housing (11) is driven to rotate relative to the second housing (21).

4. The robot wrist structure according to claim 2, characterized in that: A hypoid gear (13) connected to the end flange (12) is provided in the first housing (11), and the second transmission mechanism (40) comprises: A hypoid gear shaft (41) is rotatably disposed on the reducer (32), one end of the hypoid gear shaft (41) extends into the first housing (11) and is meshedly connected with the hypoid gear (13), so that when the hypoid gear shaft (41) rotates, the end flange (12) is driven to rotate.

5. The robot wrist structure according to claim 4, characterized in that: The second transmission mechanism (40) further comprises: A transmission assembly (42) is arranged in the second housing (21), and the transmission assembly (42) includes a rotatably arranged mounting shaft (420), a third synchronous wheel (421) being arranged on the mounting shaft (420), a fourth synchronous wheel (410) being arranged on one end of the hypoid gear shaft (41) away from the hypoid gear (13), and the third synchronous wheel (421) and the fourth synchronous wheel (410) being respectively wound around a second synchronous belt (43), so that when the mounting shaft (420) rotates, the hypoid gear shaft (41) is driven to rotate.

6. The robot wrist structure according to claim 5, characterized in that: A second driving component (23) is disposed in the second housing (21), and the second transmission mechanism (40) further comprises: a fifth synchronous wheel (44) connected to the output shaft of the second driving component (23); The sixth synchronous wheel (45) is arranged on the installation shaft (420), and the fifth synchronous wheel (44) and the sixth synchronous wheel (45) are respectively wound around the third synchronous belt (46), so that when the second driving component (23) drives the installation shaft (420) to rotate, the hypoid gear shaft (41) is driven to rotate.

7. The robot wrist structure according to claim 3, characterized in that: The first housing (11) comprises: A first connector (110), a second connector (111) and a third connector (112) are sequentially connected; the transition flange (35) is connected to the first connector (110) and a first oil seal (14) is provided between the transition flange (35) and the first connector (110); the end flange (12) is arranged in the second connector (111) and the third connector (112); two tapered roller bearings (15) are provided between the end flange (12) and the second connector (111), respectively; a second oil seal (16) and a third oil seal (17) are provided between the end flange (12) and two ends relatively far from the second connector (111) and the third connector (112), respectively.

8. The robot wrist structure according to claim 4, characterized in that: A first sleeve (320) is provided in the internal bearing hole of the reducer (32), the hypoid gear shaft (41) is inserted into the first sleeve (320), a first angular contact ball bearing (321) is provided between the first sleeve (320) and the internal bearing hole of the reducer (32), a second angular contact ball bearing (322) is provided between the hypoid gear shaft (41) and the internal bearing hole of the reducer (32), and the first angular contact ball bearing (321) and the second angular contact ball bearing (322) are arranged relatively far apart.

9. The robot wrist structure according to claim 5, characterized in that: The transmission assembly (42) further comprises: A bearing seat (422) is arranged in the second housing (21); the mounting shaft (420) is arranged in a mounting bearing hole (423) on the bearing seat (422); two third angular contact ball bearings (424) are arranged relatively between the mounting shaft (420) and the mounting bearing hole (423); and a second sleeve (425) is arranged between the two third angular contact ball bearings (424) and the mounting shaft (420).

10. A robot, characterized in that: A robot wrist structure comprising any one of claims 1 to 9.

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