Duplex belt wheel assembly, speed reducing mechanism, transmission device and robot

Abstract

The invention relates to the technical field of robots, and discloses a duplex belt wheel assembly, a speed reducing mechanism, a transmission device and a robot. The duplex belt wheel assembly comprises a belt wheel bearing seat; the first end of the duplex belt wheel shaft is provided with a first belt wheel group; the first angular contact ball bearing is arranged in a first bearing groove, close to the first belt wheel set, in the belt wheel bearing seat; the second angular contact ball bearing is arranged in a second bearing groove, far away from the first belt wheel group, in the belt wheel bearing seat; and the first angular contact ball bearing and the second angular contact ball bearing are mounted back to back. A first angular contact ball bearing and a second angular contact ball bearing are arranged in a duplex belt wheel assembly, a duplex belt wheel shaft is supported through the double angular contact ball bearings, and the radial load, the axial load and the upsetting moment generated by a first belt wheel set on the duplex belt wheel shaft are borne; the supporting structure is small in size, so that the transmission device is small in size and compact in structure, and the working requirement of the robot in a narrow space can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a double-pulley assembly, a speed reduction mechanism, a transmission device and a robot. Background Art

[0002] A welding robot is an industrial robot that performs welding (including cutting and spraying). A welding clamp or welding (cutting) gun is installed on the end flange of the industrial robot to enable it to perform welding, cutting or thermal spraying operations.

[0003] The wrist of the six-degree-of-freedom welding robots with different load levels on the market is generally designed with a double-support structure. The double-support structure is large in size, not compact in structure, with a large number of machined parts (machined parts), and difficult to assemble; it also limits the range of motion of the five axes to a great extent, cannot meet the welding needs in a narrow space, and is difficult to improve welding efficiency. Summary of the invention

[0004] In view of this, the present invention provides a double pulley assembly, a reduction mechanism, a transmission device and a robot to solve the problem that the robot adopts a double support structure, is large in size, inflexible and cannot meet the working needs in a small space.

[0005] In a first aspect, the present invention provides a double pulley assembly, comprising:

[0006] A pulley bearing seat is provided with a first bearing groove and a second bearing groove spaced apart in the axial direction;

[0007] A double pulley shaft, with a first pulley set mounted on the first end;

[0008] A first angular contact ball bearing is disposed in the first bearing groove in the pulley bearing seat close to the first pulley assembly;

[0009] The second angular contact ball bearing is arranged in the second bearing groove on the side of the pulley bearing seat away from the first pulley group; and the first angular contact ball bearing and the second angular contact ball bearing are installed back to back, and the second end of the double pulley shaft away from the first pulley group is passed through the first angular contact ball bearing and the second angular contact ball bearing and supported.

[0010] Beneficial effect: Compared with the method of using a double support structure for the wrist in the related art, the present invention arranges a first angular contact ball bearing and a second angular contact ball bearing in the double pulley assembly, supports the double pulley shaft through the double angular contact ball bearings, withstands the radial load and axial load and overturning moment generated by the first pulley group on the double pulley shaft, so that the movement is smooth during high-speed operation, the support structure is small and compact, and the deceleration mechanism is compact. The transmission device of the deceleration mechanism is small in size and can drive the wrist to rotate flexibly, meeting the working needs of the welding robot in a narrow space.

[0011] In an optional embodiment, the first pulley assembly includes a first pulley and a second pulley;

[0012] The double pulley assembly further includes a first sleeve disposed between the first angular contact ball bearing and the second angular contact ball bearing.

[0013] Beneficial effect: The first sleeve is arranged between the first angular contact ball bearing and the second angular contact ball bearing to prevent the bearings from getting stuck when rotating.

[0014] In a second aspect, the present invention further provides a double pulley assembly, comprising:

[0015] The first reducer is provided with a third bearing groove and a fourth bearing groove spaced apart in the axial direction;

[0016] a third angular contact ball bearing, disposed in the third bearing groove;

[0017] a fourth angular contact ball bearing, disposed in the fourth bearing groove;

[0018] A first hypoid gear shaft is installed in the first reducer through the third angular contact ball bearing and the fourth angular contact ball bearing;

[0019] The second pulley group includes a third pulley and a fourth pulley; the second pulley group is arranged at the first end of the first hypoid gear shaft, and the second end of the first hypoid gear shaft is provided with a first hypoid gear.

[0020] Beneficial effects: A third angular contact ball bearing and a fourth angular contact ball bearing are arranged in the double pulley assembly, and the first hypoid gear shaft is supported by the double angular contact ball bearings, and the radial load, axial load and overturning moment generated by the second pulley group on the first hypoid gear shaft are borne, so that the movement is smooth during high-speed operation; and the supporting structure is small in size and compact in structure, thereby making the reduction mechanism compact in structure. The transmission device of the reduction mechanism is small in size and can drive the wrist to rotate flexibly, meeting the working needs of the welding robot in a narrow space.

[0021] In an optional embodiment, the double pulley assembly further includes:

[0022] a second sleeve, disposed between the third angular contact ball bearing and the fourth angular contact ball bearing;

[0023] The third sleeve is arranged between the third angular contact ball bearing and the third pulley.

[0024] Beneficial effect: the second sleeve prevents the third angular contact ball bearing and the fourth angular contact ball bearing from getting stuck; the third sleeve serves as a limiting fixing component.

[0025] In a third aspect, the present invention further provides a deceleration mechanism, comprising:

[0026] A first double pulley assembly, comprising any of the double pulley assemblies described above;

[0027] The second double pulley assembly comprises any of the double pulley assemblies described above; a first synchronous belt is arranged between the first pulley and the third pulley;

[0028] The second hypoid gear is meshed with the first hypoid gear.

[0029] Beneficial effects: The double synchronous pulleys are equipped with a double angular contact ball bearing support structure, and the two-stage synchronous belt reduction cooperates with the hyperbolic gear pair transmission to achieve three-stage reduction to replace the reducer, which reduces the cost of the robot while improving the transmission accuracy. It has the advantages of compact structure, few machined parts, and high transmission accuracy. After the reduction mechanism is set on the wrist, the movement posture is flexible, and it has outstanding advantages in application scenarios with narrow space.

[0030] In a fourth aspect, the present invention further provides a transmission device, comprising:

[0031] The above-mentioned speed reduction mechanism;

[0032] A first motor, an output end of which is provided with a fifth pulley; a second synchronous belt is provided between the fifth pulley and the fourth pulley;

[0033] The second motor has a sixth pulley at its output end; a third synchronous belt is arranged between the sixth pulley and the second pulley.

[0034] Beneficial effects: A double synchronous pulley is configured with a double angular contact ball bearing support structure, and a two-stage synchronous belt reduction is combined with a hyperbolic gear pair transmission to achieve a three-stage reduction to replace the reducer, which reduces the cost of the robot while improving the transmission accuracy. It has the advantages of compact structure, few machined parts, and high transmission accuracy. After the reduction mechanism is set on the wrist, the movement posture is flexible, and it has outstanding advantages in application scenarios with narrow space.

[0035] In a fifth aspect, the present invention further provides a robot, comprising:

[0036] forearm;

[0037] The wrist can be rotatably arranged on the forearm through the above-mentioned transmission device.

[0038] Beneficial effects: The forearm and wrist adopt a double synchronous pulley configuration with a double angular contact ball bearing support structure, and the two-stage synchronous belt reduction cooperates with the hyperbolic gear pair transmission to achieve three-stage reduction to replace the reducer, which reduces the cost of the robot while improving the transmission accuracy. It has the advantages of compact structure, few machined parts, and high transmission accuracy. After the reduction mechanism is set on the wrist, the movement posture is flexible, and the advantages are outstanding in application scenarios with narrow space.

[0039] In an optional embodiment, the wrist comprises:

[0040] an end flange, wherein the second hypoid gear is disposed on a circumferential side of the end flange;

[0041] A transition flange is provided between the end flange and the first reducer;

[0042] The terminal flange is provided with a terminal hollow, the transition flange is provided with a transition hollow, the first reducer is provided with a wiring cavity, and the terminal hollow, the transition hollow and the wiring cavity are connected to form a wiring channel.

[0043] Beneficial effects: Cavities are set on the end flange, the transition flange and the first reducer to form a wiring channel with a hollow structure and small interference space, which is convenient for the welding gun cable, air pipe 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 play a protective role, which can meet the operating conditions of both welding robots and general six-axis robots.

[0044] In an optional embodiment, the robot further comprises a large arm, an elbow is provided between the large arm and the small arm, and the elbow comprises:

[0045] The elbow body is rotatably arranged on the upper arm; the lower arm is rotatably arranged on the elbow body;

[0046] A third motor is transmission-connected to the elbow body;

[0047] A fourth motor is transmission-connected to the forearm; the fourth motor is offsetly disposed on the elbow body.

[0048] Beneficial effect: The fourth motor adopts an offset method, which can improve the static and dynamic balance of the robot arm, and at the same time reserve installation space for other devices to avoid interference.

[0049] In an optional embodiment, the robot further includes:

[0050] Base;

[0051] A waist portion, rotatably disposed on the base;

[0052] an actuator rotatably disposed on the wrist;

[0053] The base forms a first rotating axis, the waist forms a second rotating axis, the upper arm forms a third rotating axis, the elbow forms a fourth rotating axis, the forearm forms a fifth rotating axis, and the wrist forms a sixth rotating axis.

[0054] Beneficial effects: The robot is a six-axis robot that can achieve multi-degree-of-freedom movement; the actuator can use tools such as welding guns, cutting guns or spray guns as needed to achieve different operating needs of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A three-dimensional structural diagram of a welding robot according to an embodiment of the present invention;

[0057] Figure 2 This is a schematic structural diagram of a base of a welding robot according to an embodiment of the present invention;

[0058] Figure 3 This is a schematic structural diagram of a waist of a welding robot according to an embodiment of the present invention;

[0059] Figure 4 A schematic structural diagram of a large arm of a welding robot according to an embodiment of the present invention;

[0060] Figure 5 This is a schematic structural diagram of an elbow of a welding robot according to an embodiment of the present invention;

[0061] Figure 6 for Figure 5 Middle AA section view;

[0062] Figure 7 This is a schematic structural diagram of an elbow of a welding robot according to an embodiment of the present invention;

[0063] Figure 8 This is a schematic diagram of the connection structure between the forearm and wrist of a welding robot according to an embodiment of the present invention;

[0064] Fig. 9 for Figure 8 A top view of

[0065] Fig.10 for Fig. 9 Middle AA section view;

[0066] Fig.11 for Fig.10 Middle BB section view;

[0067] Fig.12 It is a schematic diagram of the three-dimensional structure of a first double pulley assembly according to an embodiment of the present invention;

[0068] Fig.13 for Fig.12 A front view of the middle double pulley assembly;

[0069] Fig.14 for Fig.13 Middle CC section view;

[0070] Fig.15 It is a schematic diagram of the internal structure of the transition position between the first transmission assembly and the second transmission assembly of the present invention;

[0071] Fig.16 This is a schematic structural diagram of a wrist of a welding robot according to an embodiment of the present invention;

[0072] Fig.17 for Fig.16 Frontal view of the mid-carpal region;

[0073] Fig.18 for Fig.17 Middle DD section view.

[0074] Description of reference numerals:

[0075] 100, base;

[0076] 110, base body; 120, junction box; 130, hollow wire tube; 140, one-axis RV reducer; 150, one-axis motor;

[0077] 200, waist;

[0078] 210, waist body; 220, second-axis motor; 230, second-axis RV reducer; 240, wire protection tube;

[0079] 300, upper arm;

[0080] 310, main arm body; 320, three-axis RV reducer; 330, third motor; 340, wire feeder;

[0081] 400, elbow;

[0082] 410, elbow body; 420, four-axis hollow RV reducer; 430, welding gun cable wire tube; 440, first synchronous pulley; 450, synchronous belt; 460, synchronous belt tension adjustment block; 470, four-axis motor mounting plate; 480, second synchronous pulley; 490, fourth motor;

[0083] 500, forearm;

[0084] 600, wrist;

[0085] 1. First housing; 2. Second housing; 3. Fifth pulley; 4. First motor mounting plate; 5. Sixth pulley; 6. Second motor mounting plate; 7. Second synchronous belt; 8. Third synchronous belt; 9. First pulley;

[0086] 10. Second pulley; 11. Pulley bearing seat; 12. First synchronous belt; 13. Third pulley; 14. First reducer; 15. Fourth pulley; 16. Second sleeve; 17. First motor; 18. Second motor; 19. First angular contact ball bearing;

[0087] 20. First sleeve; 21. Double pulley shaft; 22. Second angular contact ball bearing; 23. Third angular contact ball bearing; 24. Third sleeve; 25. First hypoid gear shaft; 26. Fourth angular contact ball bearing; 27. Second hypoid gear; 28. End flange; 29. ​​First tapered roller bearing;

[0088] 30. Second tapered roller bearing; 31. First oil seal; 32. First O-ring; 33. Second O-ring; 34. Transition flange; 35. Connector 1; 36. Connector 1; 37. Connector 3; 38. Second oil seal; 39. Third O-ring;

[0089] 40. The third oil seal; 41. The first tensioning device; 42. The second tensioning device; 43. The third tensioning device. DETAILED DESCRIPTION

[0090] 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 conjunction with the drawings in 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0091] In the description of the invention, it should be noted that, unless otherwise specified, the meaning of "plurality" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0092] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] Combine the following Figures 1 to 18 , describing an embodiment of the present invention.

[0094] According to an embodiment of the present invention, on the one hand, a double pulley assembly is provided, comprising:

[0095] The pulley bearing seat 11 is provided with a first bearing groove and a second bearing groove spaced apart in the axial direction;

[0096] A double pulley shaft 21, with a first pulley set mounted on the first end;

[0097] A first angular contact ball bearing 19 is disposed in a first bearing groove in the pulley bearing seat 11 close to a first pulley assembly;

[0098] The second angular contact ball bearing 22 is arranged in the second bearing groove on the side of the pulley bearing seat 11 away from the first pulley group; and the first angular contact ball bearing 19 and the second angular contact ball bearing 22 are installed back to back, and the second end of the double pulley shaft 21 away from the first pulley group is passed through the first angular contact ball bearing 19 and the second angular contact ball bearing 22 and supported.

[0099] Compared with the method of adopting a double support structure for the wrist 600 in the related art, the present invention arranges a first angular contact ball bearing 19 and a second angular contact ball bearing 22 in the double pulley assembly, supports the double pulley shaft 21 by the double angular contact ball bearings, withstands the radial load and axial load and overturning moment generated by the first pulley group on the double pulley shaft 21, so that the movement is smooth during high-speed operation, the support structure is small and compact, and the deceleration mechanism is compact. The transmission device of the deceleration mechanism is small in size and can drive the wrist 600 to rotate flexibly, meeting the working needs of the welding robot in a narrow space.

[0100] In some embodiments, the first pulley set includes a first pulley 9 and a second pulley 10;

[0101] The double pulley assembly further includes a first sleeve 20 , which is disposed between the first angular contact ball bearing 19 and the second angular contact ball bearing 22 .

[0102] A first sleeve 20 is arranged between the first angular contact ball bearing 19 and the second angular contact ball bearing 22 to prevent the bearings from getting stuck when rotating.

[0103] According to an embodiment of the present invention, on the other hand, a double pulley assembly is provided, comprising:

[0104] The first reducer 14 is provided with a third bearing groove and a fourth bearing groove spaced apart in the axial direction;

[0105] A third angular contact ball bearing 23 is disposed in the third bearing groove;

[0106] a fourth angular contact ball bearing 26, disposed in the fourth bearing groove;

[0107] The first hypoid gear shaft 25 is installed in the first reducer 14 through the third angular contact ball bearing 23 and the fourth angular contact ball bearing 26;

[0108] The second pulley set includes a third pulley 13 and a fourth pulley 15 ; the second pulley set is arranged at a first end of the first hypoid gear shaft 25 , and a first hypoid gear is arranged at a second end of the first hypoid gear shaft 25 .

[0109] A third angular contact ball bearing 23 and a fourth angular contact ball bearing 26 are provided in the double pulley assembly, and the first hypoid gear shaft 25 is supported by the double angular contact ball bearings, and the radial load, axial load and overturning moment generated by the second pulley group on the first hypoid gear shaft 25 are borne, so that the movement is smooth during high-speed operation; and the supporting structure is small in size and compact in structure, thereby making the reduction mechanism compact in structure. The transmission device provided with the reduction mechanism is small in size and can drive the wrist 600 to rotate flexibly, thereby meeting the working needs of the robot in a narrow space.

[0110] In some embodiments, the double pulley assembly further comprises:

[0111] The second sleeve 16 is disposed between the third angular contact ball bearing 23 and the fourth angular contact ball bearing 26;

[0112] The third sleeve 24 is disposed between the third angular contact ball bearing 23 and the third pulley 13 .

[0113] The second sleeve 16 prevents the third angular contact ball bearing 23 and the fourth angular contact ball bearing 26 from getting stuck; the third sleeve 24 serves as a limiting fixing component.

[0114] According to an embodiment of the present invention, on the other hand, a deceleration mechanism is provided, comprising:

[0115] The first double pulley set;

[0116] A second double pulley group; a first synchronous belt 12 is arranged between the first pulley 9 and the third pulley 13;

[0117] The second hypoid gear 27 is meshed with the first hypoid gear.

[0118] The double synchronous belt 450 wheels are equipped with a double angular contact ball bearing support structure, and the two-stage synchronous belt 450 reduction is combined with the hyperbolic gear pair transmission to achieve three-stage reduction to replace the reducer, which reduces the cost of the robot while improving the transmission accuracy. It has the advantages of compact structure, few machined parts, and high transmission accuracy. After the wrist 600 is equipped with this reduction mechanism, the movement posture is flexible, and it has outstanding advantages in application scenarios with narrow space.

[0119] According to an embodiment of the present invention, on the other hand, a transmission device is provided, comprising:

[0120] Reduction mechanism;

[0121] The first motor 17 has a fifth pulley 3 at its output end; a second synchronous belt 7 is provided between the fifth pulley 3 and the fourth pulley 15;

[0122] The second motor 18 has a sixth pulley 5 at its output end; a third synchronous belt 8 is provided between the sixth pulley 5 and the second pulley 10 .

[0123] A double synchronous belt 450 wheel is used with a double angular contact ball bearing support structure, and the two-stage synchronous belt 450 reduction is combined with a hyperbolic gear pair transmission to achieve a three-stage reduction to replace the reducer, which reduces the cost of the robot while improving the transmission accuracy. It has the advantages of compact structure, few machined parts, and high transmission accuracy. After the wrist 600 is equipped with this reduction mechanism, the movement posture is flexible, and it has outstanding advantages in application scenarios with narrow space.

[0124] According to an embodiment of the present invention, on the other hand, Figure 1 As shown, a steel component long weld welding robot is also provided, comprising a base 100, a waist 200, an upper arm 300, an elbow 400, a lower arm 500 and a wrist 600. The waist 200 is movably mounted on the base 100 and can rotate around the base 100. One end of the upper arm 300 is movably mounted on the waist 200, and the other end is movably connected to the elbow 400. The elbow 400 is also movably connected to the lower arm 500. The other end of the lower arm 500 is movably mounted on the wrist 600, and the end of the wrist 600 can be used to install a welding gun.

[0125] The base 100 forms a first rotating shaft, the waist 200 forms a second rotating shaft, the upper arm 300 forms a third rotating shaft, the elbow 400 forms a fourth rotating shaft, the lower arm 500 forms a fifth rotating shaft, and the wrist 600 forms a sixth rotating shaft. The middle flange of the wrist 600 has a hole for installing a welding gun, and the welding gun is installed on the flange and rotates with it. The first rotating shaft and the second rotating shaft are in a vertical relationship, the third rotating shaft and the fourth rotating shaft are in a vertical relationship, and the fifth rotating shaft and the sixth rotating shaft are in a vertical relationship.

[0126] like Figure 2 As shown, the base 100 includes a base body 110, a junction box 120, a hollow wire tube 130 and a one-axis RV reducer 140. The hollow wire tube 130 is installed in the middle of the base body 110, and the welding wire junction box 120 enters and passes through the hollow wire tube 130; the one-axis RV reducer 140 is installed at the top of the hollow wire tube 130, and the one-axis RV reducer 140 is connected with a one-axis motor 150 installed on the waist 200; driven by the one-axis motor 150, the base 100 can realize the robot waist 200 to rotate freely around the base 100.

[0127] like Figure 3 As shown, the waist 200 is installed on the base 100, and the waist 200 also includes a waist body 210, a two-axis motor 220, a two-axis RV reducer 230 and a wire protection tube 240. The two-axis motor 220 is connected with the two-axis RV reducer 230, and the bellows is installed on the waist body 210 and is coaxially matched with the top end of the hollow wire tube 130.

[0128] like Figure 4 As shown, the upper arm 300 includes an upper arm body 310, wherein the upper arm 300 is installed on the waist 200, forming the three axes of the robot; the upper arm body 310 is arc-shaped, and the waist 200 is connected to the upper arm 300, and one side of the bottom of the upper arm body 310 is connected to the two-axis RV reducer 230 of the waist 200, and the other side is connected to the three-axis RV reducer 320 of the elbow 400, so that the upper arm 300 can swing forward and backward.

[0129] like Figure 5-Figure 7As shown, the elbow 400 is the connection node between the upper arm 300 and the lower arm 500. The elbow 400 includes an elbow body 410, a four-axis hollow RV reducer 420, a welding gun cable wire tube 430, a first synchronous pulley 440, a synchronous belt 450, a synchronous belt tension adjustment block 460, a four-axis motor mounting plate 470, a second synchronous pulley 480, a fourth motor 490, a third motor 330, and a wire feeder 340. The elbow 400 is mounted on the upper arm 300, forming the fourth rotating shaft of the robot; the third motor 330 is connected with the three-axis RV reducer 320, and the fourth motor 490 is offset and installed at the left front of the elbow body 410 by designing the structure of the elbow body 410, so as to avoid the problem of interference between the fourth motor 490 and the wire feeder 340 when the fourth motor 490 is installed at the rear end of the elbow body 410, and at the same time, the space of the elbow body 410 is optimized, which is convenient for the installation of the wire feeder 340, and improves the working efficiency and stability of welding. The fourth motor 490 is fixed to the four-axis motor mounting plate 470 by screws, and the four-axis motor mounting plate 470 is fixed to the elbow body 410 by screws. By designing the mounting through hole of the motor mounting plate to be improved into a U-shaped hole groove, the tension of the synchronous belt 450 can be flexibly adjusted within a certain range through the synchronous belt tension adjustment block 460. The U-shaped hole groove is installed by four screws. Since there are requirements for the tension of the synchronous belt 450 when the synchronous belt 450 is installed, it is necessary to ensure that the synchronous belt 450 can be adjusted to run stably under the specified tension. Therefore, the four screws of the motor mounting plate are slightly loosened, and then the screws of the tension adjustment block are tightened to support the mounting plate and move in the tensioning direction, so as to achieve flexible adjustment of the tension of the synchronous belt 450.

[0130] The first synchronous pulley 440 is fixed on the shaft of the fourth motor 490 by keys and screws. The first synchronous pulley 440 and the second synchronous pulley 480 realize primary deceleration through the synchronous belt 450 transmission. The second synchronous pulley 480 is fixed to the input end of the four-axis hollow RV reducer 420 by screw connection. When the fourth motor 490 rotates, the second synchronous pulley 480 is driven to rotate synchronously by the first synchronous pulley 440, and the second synchronous pulley 480 drives the input end of the four-axis hollow RV reducer 420 to rotate synchronously, so that the forearm 500 connected to the output end of the four-axis hollow RV reducer 420 rotates following the motor shaft, that is, the mutual rotation between the elbow and the wrist 600 is realized.

[0131] like Figure 8-Figure 9The figure shows the overall structure of the forearm 500 and the wrist 600, wherein the wrist 600 is rotatably arranged at the front end of the forearm 500. The forearm 500 includes a first housing 1, and a first drive mechanism, a second drive mechanism, a first transmission mechanism, and a second transmission mechanism, all of which are arranged in the first housing 1. The first transmission mechanism is arranged at the front end of the first housing 1, and the first drive mechanism is in transmission connection with the first transmission mechanism. The wrist 600 includes a second housing 2, a second transmission mechanism and an output shaft arranged in the second housing 2. The output flange is arranged horizontally, and one end thereof passes through the second housing 2 and extends outside the second housing 2, and the other end thereof is in transmission connection with the second transmission mechanism. The lower end of the second transmission mechanism located in the first housing 1 passes through the lower end of the second housing 2 and is connected to the second transmission mechanism part located in the second housing 2. When the first drive mechanism is working, the second housing 2 is driven to rotate in the vertical direction through the first transmission mechanism. When the second drive mechanism is working, the output flange is driven to rotate along its axis through the second transmission mechanism.

[0132] In this embodiment, when the first driving mechanism is working, the wrist 600 is driven to rotate in the vertical direction through the first transmission mechanism. When the second driving mechanism is working, the output shaft is driven to rotate along its axis through the second transmission mechanism. In this way, the rotation between the wrist 600 and the forearm 500 can be achieved by starting the first driving mechanism and the second driving mechanism respectively.

[0133] like Figure 10-11 As shown, the first transmission mechanism includes a first motor 17, a fifth pulley 3, a second synchronous belt 7, a fourth pulley 15 and a first reducer 14. The first motor 17 is fixed to the first motor mounting plate 4 by screws, the first motor mounting plate 4 is fixed to the first housing 1 by screws, the fifth pulley 3 is fixed to the shaft of the first motor 17 by keys and screws, the fifth pulley 3 and the fourth pulley 15 are driven by the second synchronous belt 7 to achieve primary deceleration, the fourth pulley 15 is fixed to the input end of the first reducer 14 by screws to achieve secondary deceleration, when the first motor 17 rotates, the fourth pulley 15 is driven to rotate synchronously by the fifth pulley 3, the fourth pulley 15 is driven to rotate synchronously with the input end of the first reducer 14, and the transition flange 34 in the second housing 2 is connected to the output end of the first reducer 14 by screws, so that the second housing 2 rotates in the vertical direction, that is, the mutual rotation between the wrist 600 and the forearm 500 is realized.

[0134] The second transmission mechanism includes a second motor 18, a sixth pulley 5, a third synchronous belt 8, a second pulley 10, a first pulley 9, a first synchronous belt 12, a third pulley 13, a first hypoid gear shaft 25, a second hypoid gear 27, an end flange 28 and a first double pulley assembly. The second motor 18 is fixed to the second motor mounting plate 6 by screws, the second motor mounting plate 6 is fixed to the first housing 1 by screws, the sixth pulley 5 is fixed to the shaft of the second motor 18 by keys and screws, when the second motor 18 rotates, the sixth pulley 5 and the second pulley 10 are driven by the third synchronous belt 8 to achieve a first-stage deceleration. The first tensioning device 41, the second tensioning device 42, and the third tensioning device 43 are used to adjust the tension of the second synchronous belt 7, the third synchronous belt 8, and the first synchronous belt 12, respectively, so that the synchronous belt drive maintains good meshing.

[0135] like Figure 12-14 As shown, the double pulley assembly includes a first pulley 9, a second pulley 10, a pulley bearing seat 11, a first angular contact ball bearing 19, a first sleeve 20, a double pulley shaft 21, and a second angular contact ball bearing 22. The first pulley 9 and the second pulley 10 are mounted on the double pulley shaft 21 by keys and screws in a manner that the axes coincide. The first angular contact ball bearing 19 is mounted in the bearing hole of the pulley bearing seat 11 close to the second pulley 10, and its inner and outer rings are fixed by the shaft shoulder of the double pulley shaft 21 and the inner step surface of the pulley bearing seat 11 respectively. The second angular contact ball bearing 22 is mounted in the bearing hole of the pulley bearing seat 11 away from the second pulley 10, and its inner and outer rings are fixed by the screw gasket installed at one end of the double pulley shaft 21 and the inner step surface of the pulley bearing seat 11 respectively. A first sleeve 20 is installed between the inner rings of the first angular contact ball bearing 19 and the second angular contact ball bearing 22 to prevent the bearings from getting stuck when rotating. The first angular contact ball bearing 19 and the second angular contact ball bearing 22 are installed back to back between the double pulley shaft 21 and the pulley bearing seat 11 to fix the two and enable the structure to withstand the radial load and axial load, as well as the overturning moment generated by the second pulley 10 and the first pulley 9 on the double pulley shaft 21, so that it can move smoothly during high-speed rotation. The double pulley assembly is fixed to the inner plane of the second shell 2 by screws. When in use, the second pulley 10 is driven by the sixth pulley 5 and the third synchronous belt 8 The torque drives the first pulley 9 and the double pulley shaft 21 to rotate coaxially.

[0136] like Fig.15As shown, the first hypoid gear shaft 25 is installed inside the first reducer 14 through the third angular contact ball bearing 23 and the fourth angular contact ball bearing 26. The inner and outer rings of the third angular contact ball bearing 23 are fixed through the second sleeve 16 and the bearing hole inside the first reducer 14 respectively. The inner and outer rings of the fourth angular contact ball bearing 26 are fixed through the shaft shoulder of the first hypoid gear shaft 25 and the bearing hole inside the first reducer 14 respectively. The third sleeve 24 is installed between the inner rings of the third angular contact ball bearing 23 and the fourth angular contact ball bearing 26 to prevent the bearings from getting stuck when rotating. The third angular contact ball bearing 23 and the fourth angular contact ball bearing 26 are installed back to back between the first hypoid gear shaft 25 and the first reducer 14 to fix the two and enable the structure to withstand the radial load and axial load generated by the third pulley 13 on the first hypoid gear shaft 25, as well as the overturning moment, so that it moves smoothly when rotating at high speed. The first reducer 14 is fixed to the reducer installation plane inside the second housing 2 by screws. When in use, the third pulley 13 is fixed to the left end of the first hypoid gear shaft 25 by means of keys and screws, and drives the first hypoid gear shaft 25 to rotate after receiving the driving torque of the first pulley 9 and the first synchronous belt 12 .

[0137] like Figure 16-Figure 18 As shown, the second housing 2 includes a transition flange 34, a connector 1 35, a connector 2 36, a connector 3 37, a second hypoid gear 27, an end flange 28, a first tapered roller bearing 29, a second tapered roller bearing 30, a first oil seal 31, a second oil seal 38, a third oil seal 40, a first O-ring 32, a second O-ring 33, and a third O-ring 39. The left end face of the transition flange 34 is fixed to the output end face of the first reducer 14 by screws, and the right end face is fixed to the plane of the connector 2 36 by screws. One end of the terminal flange 28 passes through the second connector 36, and a second oil seal 38 is installed on the periphery. The other end extends to the outside of the third connector 37 for installing an external end actuator. The first tapered roller bearing 29 and the second tapered roller bearing 30 are sleeved on the terminal flange 28. The second connector 36 is sleeved on the first tapered roller bearing 29 and the second tapered roller bearing 30 to fix the first tapered roller bearing 29. The third connector 37 is fixed to the right end of the second connector 36 by screws, and the third connector 37 is pressed on the periphery of the third oil seal 40 to fix the second tapered roller bearing 30. When in use, the second hypoid gear 27 is fixed to the terminal flange 28 by screws. The first tapered roller bearing 29 and the second tapered roller bearing 30 can withstand radial and bidirectional axial loads, as well as overturning moments. The second hypoid gear 27 transmits torque to the terminal flange 28 through meshing with the first hypoid gear shaft 25, and at the same time realizes the third stage of reduction.

[0138] The left end face of the transition flange 34 is fixed to the output end face of the first reducer 14 by screws, and the right end face is fixed to the plane of the second connector 36 by screws. The transition flange 34 is hollow, and the interior of the first reducer 14 is a hollow structure. The transition flange 34 is connected to the hollow part of the first reducer 14. The first oil seal 31 is installed at one end of the transition flange 34 to prevent the lubricating oil on the side of the second hypoid gear 27 from overflowing into the hollow cavity of the reducer. The first O-ring 32, the second O-ring 33, the second oil seal 38, and the third oil seal 40 prevent the lubricating oil on the side of the second hypoid gear 27 from overflowing to the outside of the second housing 2.

[0139] This structural design can effectively bear the high torque of the output joint, and has the advantages of good rigidity, high transmission accuracy, compact structure, small size, few machined parts, and simple assembly; the large hollow wrist 600 structure is convenient for welding gun cables, air pipes, and other cables to pass through the inside of the robot, with a compact structure and flexible movement posture; the double-linked synchronous belt 450 wheel is equipped with a double angular contact ball bearing support structure, a two-stage synchronous belt 450 reduction combined with a high-rigidity hyperbolic gear pair transmission to achieve a three-stage reduction instead of a reducer and other innovative designs, which reduce the cost of the robot while improving the transmission accuracy.

[0140] The present invention has a steel structure long weld welding robot that accommodates cables and pipelines, and includes an independent power mechanism including a motor and a reducer or a quasi-hypoid gear, so that the robot can rotate freely; the combination of multiple motors, reducers and synchronous belts 450 makes the robot's rotatable nodes and directions more free; the welding position can be adjusted at multiple angles, making the welding more precise and the welding quality higher.

[0141] The forearm 500 and wrist 600 adopt a double pulley support structure, a two-stage synchronous belt 450 reduction and a high-rigidity hyperbolic gear pair transmission to achieve a three-stage reduction instead of a reducer, which has the advantages of compact structure, few machined parts, and high transmission accuracy. The wrist 600 has outstanding advantages in flexible movement posture and narrow space application scenarios. The large hollow wrist 600 has a small interference space, which is convenient for welding gun cables, air pipes, and other cables to pass through the robot. The wiring method is easy to maintain. At the same time, the cables and pipes can be effectively wrapped to protect them, which can meet the use conditions of welding robots and general six-axis robots at the same time.

[0142] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A double pulley assembly, characterized in that: include: A pulley bearing seat (11) is provided with a first bearing groove and a second bearing groove spaced apart in the axial direction; A double pulley shaft (21), a first end of which is provided with a first pulley set; A first angular contact ball bearing (19) is arranged in the first bearing groove in the pulley bearing seat (11) close to the first pulley assembly; The second angular contact ball bearing (22) is arranged in the second bearing groove on the side of the pulley bearing seat (11) away from the first pulley group; and the first angular contact ball bearing (19) and the second angular contact ball bearing (22) are installed back to back, and the second end of the double pulley shaft (21) away from the first pulley group is passed through the first angular contact ball bearing (19) and the second angular contact ball bearing (22) to be supported.

2. The double pulley assembly according to claim 1, characterized in that: The first pulley assembly comprises a first pulley (9) and a second pulley (10); The double pulley assembly further comprises a first sleeve (20), wherein the first sleeve (20) is arranged between the first angular contact ball bearing (19) and the second angular contact ball bearing (22).

3. A double pulley assembly, characterized in that: include: The first reducer (14) is provided with a third bearing groove and a fourth bearing groove spaced apart in the axial direction; A third angular contact ball bearing (23), arranged in the third bearing groove; a fourth angular contact ball bearing (26), disposed in the fourth bearing groove; A first hypoid gear shaft (25) is installed in the first reducer (14) via the third angular contact ball bearing (23) and the fourth angular contact ball bearing (26); The second pulley group comprises a third pulley (13) and a fourth pulley (15); the second pulley group (10) is arranged at the first end of the first hypoid gear shaft (25), and the second end of the first hypoid gear shaft (25) is provided with a first hypoid gear.

4. The double pulley assembly according to claim 3, characterized in that: Also includes: A second sleeve (16) is disposed between the third angular contact ball bearing (23) and the fourth angular contact ball bearing (26); The third sleeve (24) is arranged between the third angular contact ball bearing (23) and the third pulley (13).

5. A speed reduction mechanism, characterized in that: include: A first double pulley assembly, comprising the double pulley assembly according to claim 1 or 2; A second double pulley assembly, comprising the double pulley assembly according to claim 3 or 4; a first synchronous belt (12) is arranged between the first pulley (9) and the third pulley (13); The second hypoid gear (27) is meshed with the first hypoid gear.

6. A transmission device, characterized in that: include: The speed reduction mechanism according to claim 5; A first motor (17), the output end of which is provided with a fifth pulley (3); a second synchronous belt (7) is provided between the fifth pulley (3) and the fourth pulley (15); The second motor (18) has a sixth pulley (5) at its output end; a third synchronous belt (8) is arranged between the sixth pulley (5) and the second pulley (10).

7. A robot, characterized in that: include: Forearm (500); The wrist (600) is rotatably arranged on the forearm (500) through the transmission device described in claim 6.

8. The robot according to claim 7, characterized in that: The wrist (600) comprises: an end flange (28), wherein the second hypoid gear (27) is arranged on a circumferential side of the end flange (28); A transition flange (34) is arranged between the end flange (28) and the first reducer (14); The end flange (28) is provided with an end hollow, the transition flange (34) is provided with a transition hollow, the first reducer (14) is provided with a wiring cavity, and the end hollow, the transition hollow and the wiring cavity are connected to form a wiring channel.

9. The robot according to claim 7 or 8, characterized in that: The robot further comprises a large arm (300), an elbow (400) is arranged between the large arm (300) and the small arm (500), and the elbow (400) comprises: The elbow body (410) is rotatably disposed on the upper arm (300); the lower arm (500) is rotatably disposed on the elbow body (410); a third motor (330) drivingly connected to the elbow body (410); A fourth motor (490) is transmission-connected to the forearm (500); the fourth motor (490) is offsetly disposed on the elbow body (410).

10. The robot according to claim 9, characterized in that: The robot also includes: Base (100); A waist (200) rotatably disposed on the base (100); an actuator rotatably disposed on the wrist (600); The base (100) forms a first rotating axis, the waist (200) forms a second rotating axis, the upper arm (300) forms a third rotating axis, the elbow (400) forms a fourth rotating axis, the forearm (500) forms a fifth rotating axis, and the wrist (600) forms a sixth rotating axis.

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