Robot arm of industrial robot

Abstract

The invention discloses a robot arm of an industrial robot, and belongs to the field of mechanical transmission. The arm comprises a four-axis shell, a wrist shell and a forearm shell composed of a forearm rear end shell, a forearm middle shell and a forearm front end shell, a four-axis speed reducing mechanism is arranged in the four-axis shell, and a five-axis speed reducing mechanism, a six-axis first-stage speed reducing mechanism and a six-axis second-stage speed reducing mechanism are arranged in the forearm shell. A six-shaft third-stage speed reducing mechanism is arranged in the wrist shell; the four-axis speed reducing mechanism, the five-axis speed reducing mechanism and the six-axis speed reducing mechanism all adopt a hypoid gear and involute gear combined transmission mode, and have the advantages of being stable in operation and high in impact resistance. The whole arm system is reasonable in arrangement, and meanwhile the overall lightweight design is considered. In addition, the connection mode of an external interface and each joint and a motor interface adopt flexible design, the interfaces can be flexibly converted, and the applicability is higher.

Description

Technical Field

[0001] The invention belongs to the field of mechanical transmission, and in particular relates to a robot arm of an industrial robot. Background Art

[0002] The hypoid gear reducer is a transmission device that uses multi-stage gear transmission and high-reduction ratio hypoid gears at the end. The application of hypoid gear reducers in industrial robot manipulators has significant advantages. Its main advantages are high transmission ratio, high precision, high impact resistance and high rigidity; stable transmission, high load-bearing and impact resistance; can adapt to the changing external environment and harsh working conditions. At the same time, this transmission device is integrated into the manipulator, with high space utilization, which greatly reduces the impact of its structure on the outside.

[0003] The main problems of existing small-load industrial robot arms include:

[0004] 1. Although hypoid gear reducers can be produced in series, due to the differences in requirements of different application scenarios, the installation interface and size specifications are diverse, which makes the reducers not universal among different devices.

[0005] 2. The robot arm shell is designed as a split structure, which may lead to insufficient overall rigidity and affect the stability and accuracy of the robot arm. In addition, the motor installation interface is single, which limits the selection and installation flexibility of the motor. 3. The existing robot arm design scheme is relatively single and lacks flexibility, resulting in limited configuration at the user end and unable to meet diverse application requirements. Summary of the invention

[0006] In order to solve the problems in the prior art, the present invention proposes a robot arm of an industrial robot. This transmission structure can be divided into three parts: four-axis, five-axis and wrist. The four-axis and the five-axis are connected by a transition connection of the rear end shell of the arm, and the five-axis is directly connected to the wrist; the rear end shell of the arm is an integrated design, which requires fewer parts to be processed, is more economical, and has an increased overall rigidity compared to the split arm; at the same time, the five-axis oil circuit is integrated in the middle shell of the arm; no sealing is required, which improves the overall sealing of the arm.

[0007] The technical solution adopted by the present invention is as follows:

[0008] The robot arm of the industrial robot provided by the present invention comprises a four-axis housing, a wrist housing and an arm housing composed of a rear end housing of an arm, an intermediate housing of an arm and a front end housing of an arm; a four-axis first-stage reduction mechanism and a four-axis second-stage reduction mechanism connected by transmission are arranged in the four-axis housing; the four-axis housing is detachably connected to the rear end housing of the arm through a four-axis first bearing; the intermediate housing of the arm and the front end housing of the arm are fixedly connected by bolts to form an electromechanical installation body, and a three-stage five-axis reduction mechanism connected by sequential transmission and a six-axis first-stage reduction mechanism and a six-axis second-stage reduction mechanism connected by transmission are arranged in the electromechanical installation body, and the assembly of the arm housing is achieved by sleeve-mounting and fixing the intermediate housing part of the arm of the electromechanical installation body in the rear end housing of the arm; a six-axis third-stage reduction mechanism connected by transmission to the six-axis second-stage reduction mechanism is arranged in the wrist housing; the front end housing of the arm is detachably connected to the wrist housing through a five-axis first bearing; the four-axis second-stage reduction mechanism, the five-axis third-stage reduction mechanism and the six-axis second-stage reduction mechanism are all hypoid gear reduction mechanisms.

[0009] As a preferred embodiment of the present invention, the four-axis housing includes a four-axis main housing and a four-axis sub-housing; the four-axis main housing has a four-axis motor mounting hole and a four-axis sub-housing mounting portion, a three-axis mounting portion connected to the outside, and a four-axis mounting portion connected to the rear end housing of the forearm; wherein the four-axis motor mounting hole and the four-axis sub-housing mounting portion are both located below the four-axis mounting portion, the four-axis motor is mounted below the outside of the four-axis main housing through the mounting hole, the body of the four-axis motor is fixed on the four-axis sub-housing, the four-axis first-stage reduction mechanism is arranged in the four-axis sub-housing, the four-axis sub-housing is detachably connected to the four-axis sub-housing mounting portion, and the four-axis first bearing is arranged in the four-axis mounting portion. The four-axis first-stage reduction mechanism includes a J4 motor gear and a J4 spur gear meshing with each other; the J4 motor gear is connected to the output end of the four-axis motor; the four-axis second-stage reduction mechanism includes a J4 quasi-hyperbolic driving gear and a J4 quasi-hyperbolic passive gear meshing with each other, the J4 spur gear and the J4 quasi-hyperbolic driving gear are integrated gears, and the two are coaxially arranged.

[0010] As a preferred embodiment of the present invention, the three-stage five-axis reduction mechanism includes a five-axis first-stage reduction mechanism, a five-axis second-stage reduction mechanism and a five-axis third-stage reduction mechanism; the five-axis first-stage reduction mechanism includes a five-axis motor gear and a five-axis connecting shaft gear that are meshed with each other; the five-axis motor gear is connected to the output end of the five-axis motor; the five-axis second-stage reduction mechanism includes a J5 transmission shaft gear and a gear shaft that are meshed with each other; the J5 transmission shaft gear is connected to the five-axis connecting shaft gear through the gear shaft; the five-axis third-stage reduction mechanism includes a J5 quasi-hyperbolic driving gear and a J5 quasi-hyperbolic passive gear that are meshed with each other; the J5 quasi-hyperbolic driving gear is coaxially arranged and fixedly connected with the J5 transmission shaft gear.

[0011] As a preferred embodiment of the present invention, the six-axis first-stage reduction mechanism includes a six-axis motor gear and a J6 transmission shaft gear that are meshed with each other; the six-axis motor gear is connected to the output end of the six-axis motor, and the six-axis second-stage reduction mechanism includes a J6 quasi-hyperid driving gear and a J6 quasi-hyperid passive gear that are meshed with each other; the J6 quasi-hyperid passive gear and the J5 quasi-hyperid passive gear are coaxial; the J6 quasi-hyperid driving gear is coaxially arranged and fixedly connected with the J6 transmission shaft gear; the six-axis third-stage reduction mechanism includes a J62 bevel gear driving gear and a J62 bevel gear passive gear that are meshed with each other; and the J6 quasi-hyperid passive gear is fixed on the spline of the J62 bevel gear driving gear.

[0012] As a preferred embodiment of the present invention, two adjacent axes of the three-axis axis, four-axis axis, five-axis axis and six-axis axis of the robot arm are perpendicular to each other; the three-axis axis is the center of the three-axis mounting part on the four-axis main housing, the four-axis axis is the axis of the J4 quasi-hyperbolic passive gear of the four-axis second-stage reduction mechanism, the five-axis axis is the coaxial axis of the J6 quasi-hyperbolic passive gear and the J5 quasi-hyperbolic passive gear, and the six-axis axis is the axis of the J62 bevel gear passive gear.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1) The forearm body of the robot arm of the present invention is divided into three sections of the forearm rear end shell, the forearm middle shell, and the forearm front end shell. The forearm middle shell and the forearm front end shell are integrated into one body, and the three-stage five-axis reduction mechanism and the six-axis first-stage reduction mechanism and the six-axis second-stage reduction mechanism are all installed in the whole body; during installation, the reduction mechanism in the whole body is first installed in place and formed into a whole, and then connected with the forearm rear end shell, and the reduction mechanism is not directly installed in the rear end shell itself. This layout makes the overall assembly of the forearm assembly more convenient and quick, and the installation interface of the forearm rear end shell can be flexibly adapted to the installation interface and size specifications of the forearm front end shell and the forearm middle shell, so that the robot arm has universality, the forearm rear end shell connection method is more flexible, the market adaptability is stronger, and the economy is higher.

[0015] 2) The input end of the robot arm of the present invention, i.e., the motor installation port, is a split design that can meet the diversified application needs of the market, is fast, convenient, and provides economic benefits. The five-axis motor and the six-axis motor are installed on the outside of the electromechanical installation body composed of the middle shell of the forearm and the front shell of the forearm. When the five-axis motor or the six-axis motor needs to be adjusted or replaced according to needs, it is only necessary to remove the electromechanical installation body from the rear end shell of the forearm. The five-axis motor or the six-axis motor can be directly replaced without disassembling the electromechanical installation body. The four-axis motor is arranged outside the four-axis main shell, and the four-axis sub-shell is used to fix the four-axis motor body, so that the four-axis motor can be replaced as needed; the four-axis sub-shell and the four-axis main shell adopt a split design, and the deceleration mechanism inside the four-axis sub-shell can be adjusted according to needs, which is flexible and convenient.

[0016] 3) The fourth axis and the fifth and sixth axes of the robot arm of the present invention are independently designed and can operate independently. The middle shell of the forearm is arranged according to the needs, and different joint arrangements can be provided as needed.

[0017] 4) The rigidity of the integrated structure of the robot arm of the present invention is significantly increased compared with the split type. At the same time, the arm accuracy can reach ±0.025mm, and the end can withstand 8 times the rated torque impact, which far exceeds the impact resistance of other existing series of reducers. The present invention improves the overall rigidity, load-bearing capacity, stability and impact resistance of industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the composition of a robot arm of an industrial robot of the present invention;

[0019] Figure 2 A schematic diagram of a deceleration structure of a robot arm of an industrial robot according to the present invention;

[0020] Figure 3 It is a partial cross-sectional schematic diagram of the wrist arrangement and deceleration structure of a robot arm of an industrial robot in an embodiment of the present invention;

[0021] Figure 4 It is an integrated forearm intermediate housing structure and a cross-sectional schematic diagram of a robot arm of an industrial robot of the present invention;

[0022] Figure 5 The present invention is a schematic diagram of the front end shell structure of the forearm of a robot arm of an industrial robot.

[0023] Figure 6 The present invention shows a four-axis structure and a cross-sectional schematic diagram of a robot arm of an industrial robot.

[0024] In the figure, the four-axis main housing 01, the four-axis auxiliary housing 02, the forearm rear end housing 03, the forearm middle housing 04, the forearm front end housing 05, the wrist housing 06, the four-axis first-stage reduction mechanism 401, the four-axis second-stage reduction mechanism 402, the five-axis first-stage reduction mechanism 501, the five-axis second-stage reduction mechanism 502, the five-axis third-stage reduction mechanism 503, the six-axis first-stage reduction mechanism 601, the six-axis second-stage reduction mechanism 602, and the six-axis third-stage reduction mechanism 603;

[0025] J4 motor gear 001, J4 spur gear 002, J4 hypoid driving gear 003, J4 hypoid passive gear 004, six-axis motor gear 005, J6 transmission shaft gear 006, J6 hypoid driving gear 007, J6 hypoid passive gear 008, five-axis motor 009, five-axis motor gear 010, five-axis connecting shaft gear 011, gear shaft 012, J5 transmission shaft gear 013, J5 hypoid driving gear 014, J5 hypoid passive gear 015, J62 bevel gear driving gear 016, J62 bevel gear passive gear 017, connecting plate 018, six-axis motor 019, four-axis motor 020;

[0026] Three-axis axis A, four-axis axis B, five-axis axis C, six-axis axis D;

[0027] Connecting shaft hole 001a, six-axis motor mounting hole 001b, five-axis motor mounting hole 001c, five-axis transmission shaft mounting hole 001d, six-axis transmission shaft mounting hole 001e, bearing inner hole 001f, wrist housing inner hole 001g, four-axis first bearing inner hole 001h, four-axis motor mounting hole 001i, J4 hypoid driving gear assembly mounting hole 001j. DETAILED DESCRIPTION

[0028] The present invention is further described and illustrated below in conjunction with specific embodiments. The embodiments are merely exemplary of the present disclosure and do not define the scope of limitation. The technical features of each embodiment of the present invention may be combined accordingly without conflicting with each other.

[0029] At present, the most common six-axis robot in the industrial field has 6 degrees of freedom of movement. With this feature, it can complete extremely complex spatial movements and excel in high-precision and high-flexibility tasks. The robot arm involved in the present invention has achieved a major breakthrough in performance. It has a compact structure, flexible movement, high rigidity, and strong impact resistance, which makes it capable of more demanding working environments, such as polishing, grinding, and welding, which have extremely high requirements for equipment performance. The robot arm introduced by the present invention is specially adapted to industrial six-axis robots with high rigidity requirements. The robot arm adopts a split design at the input end, in which the four-axis and the five-six-axis are independent and can operate separately, which greatly improves the flexibility and autonomy of operation. The design of the middle shell of the forearm is ingenious, and can be flexibly arranged according to actual needs. It can provide a variety of joint arrangements on demand according to different application scenarios to meet various complex operation needs.

[0030] The composition of the robot arm of the industrial robot provided in this example is as follows Figure 1 As shown; the outer shell mainly includes a four-axis housing composed of a four-axis main housing 01 and a four-axis auxiliary housing 02, a wrist housing, and a forearm housing composed of a forearm rear end housing 03, a forearm middle housing 04, and a forearm front end housing 05. Among them, the front end surface of the forearm middle housing 04 is fixedly connected with the forearm front end housing 05 to form an electromechanical installation body; the electromechanical installation body is provided with a three-stage five-axis reduction mechanism connected in sequence by transmission, and a six-axis first-stage reduction mechanism and a six-axis second-stage reduction mechanism connected by transmission, and the assembly of the forearm housing is achieved by sleeve-mounting and fixing the forearm middle housing part of the electromechanical installation body in the forearm rear end housing 03. In a specific embodiment, the four-axis main housing 01 is connected to the four-axis auxiliary housing 02 by bolts, and the forearm rear end housing is connected to the forearm middle housing and the forearm front end by bolts.

[0031] The reduction mechanism of the robot arm is arranged in the corresponding housing. Specifically, a four-axis first-stage reduction mechanism 401 is arranged in the four-axis auxiliary housing 02, and a four-axis second-stage reduction mechanism 402 is arranged in the four-axis main housing 01; the four-axis main housing is connected to the rear end housing of the forearm through the four-axis first bearing; a three-stage five-axis reduction mechanism (a five-axis first-stage reduction mechanism 501, a five-axis second-stage reduction mechanism 502, and a five-axis third-stage reduction mechanism 503) which are sequentially transmitted and a six-axis first-stage reduction mechanism 601 and a six-axis second-stage reduction mechanism 602 which are mutually transmitted are arranged in the electromechanical installation body, and a six-axis third-stage reduction mechanism 603 which is transmission-connected to the six-axis second-stage reduction mechanism 602 is arranged in the wrist housing; the forearm housing is connected to the wrist housing through the five-axis first bearing; the four-axis second-stage reduction mechanism 402, the five-axis third-stage reduction mechanism 503, and the six-axis second-stage reduction mechanism 602 are all quasi-hyperbolic gear reduction mechanisms.

[0032] like Figure 2 As shown, the components of the various reduction mechanisms of the present invention are as follows: the four-axis first-stage reduction mechanism 401 is composed of the meshing transmission of the J4 motor gear 001 and the J4 spur gear 002; the four-axis second-stage reduction mechanism 402 is composed of the J4 quasi-hypoid driving gear 003 and the J4 quasi-hypoid passive gear 004. The five-axis first-stage reduction mechanism 501 is composed of the five-axis motor gear 010 and the five-axis connecting shaft gear 011; the five-axis second-stage reduction mechanism 502 is composed of the gear shaft 012 and the J5 transmission shaft gear 013; the five-axis third-stage reduction mechanism 503 is composed of the J5 quasi-hypoid driving gear 014 and the J5 quasi-hypoid passive gear 015. The six-axis first-stage reduction mechanism 601 is composed of the six-axis motor gear 005 and the J6 transmission shaft gear 006; the six-axis second-stage reduction mechanism 602 is composed of the J6 quasi-hyperid driving gear 007 and the J6 quasi-hyperid driven gear 008; the six-axis third-stage reduction mechanism 603 is composed of the J62 bevel gear driving gear 016 and the J62 bevel gear driven gear 017.

[0033] In a specific embodiment of the present invention, the four-axis housing includes a four-axis main housing 01 and a four-axis sub-housing 02 which are connected to each other; the four-axis main housing 01 has a four-axis motor mounting hole and a four-axis sub-housing mounting portion, a three-axis mounting portion connected to the outside, and a four-axis mounting portion connected to the rear end housing 03 of the forearm; wherein, the four-axis motor mounting hole and the four-axis sub-housing mounting portion are both located below the four-axis mounting portion, the four-axis motor is installed below the outside of the four-axis main housing through the mounting hole, the body of the four-axis motor is fixed on the four-axis sub-housing 01, the four-axis first-stage reduction mechanism 401 is arranged in the four-axis sub-housing 02, the four-axis sub-housing 02 is detachably connected to the four-axis sub-housing mounting portion, and the four-axis first bearing is arranged in the four-axis mounting portion.

[0034] like Figure 6 The diagram shown is a schematic diagram of the four-axis main housing 01 and the four-axis auxiliary housing 02 illustrated in this example. The four-axis main housing 01 is provided with a four-axis first bearing inner hole 001h for installing the four-axis first bearing, and the four-axis auxiliary housing 02 is provided with a four-axis motor mounting hole 001i and a J4 quasi-hyperbolic driving gear assembly mounting hole 001j.

[0035] The four-axis motor 020 is coaxially connected with the J4 motor gear 001, and the J4 motor gear 001 is arranged at the output end of the four-axis motor 020; the body of the four-axis motor 020 is fixed on the four-axis auxiliary housing 02, and is aligned and connected with the four-axis motor mounting hole 001i. Figure 2As shown, the four-axis motor 020 is located outside the four-axis auxiliary housing 02 as a whole, and can be easily replaced according to the required output power. The J4 quasi-hyperid driving gear 003 is connected to the J4 quasi-hyperid driving gear assembly mounting hole 001j, and the J4 quasi-hyperid driving gear 003 is provided with a J4 spur gear 002; the J4 quasi-hyperid passive gear 004 is fixed to the four-axis first bearing on the four-axis main housing 01, and the four-axis first bearing is aligned and fixedly connected with the inner hole 001h of the four-axis first bearing; the J4 motor gear 001 and the J4 spur gear 002 mesh and drive together to form the four-axis first stage reduction mechanism 401; the J4 quasi-hyperid driving gear 003 and the J4 quasi-hyperid passive gear 004 together form the four-axis second stage reduction mechanism 402.

[0036] The body of the four-axis motor 020 is fixed on the four-axis sub-housing 02 and aligned with the four-axis motor mounting hole 001i; the J4 spur gear 002 and the four-axis second bearing are fixed on the four-axis sleeve, and the four-axis sleeve is installed in the J4 quasi-hyperbolic driving gear assembly mounting hole 001j of the four-axis sub-housing 02; the four-axis sleeve is fixed on the four-axis sub-housing; the rear end of the J4 spur gear 002 is provided with a J4 shaft seat, a four-axis second bearing and a four-axis nut; the four-axis second bearing is installed at both ends of the J4 shaft seat, the rear end of the J4 spur gear 002 is fixed to the inner ring of the four-axis second bearing, and the four-axis nut is sleeved on the thread of the J4 spur gear 002 for fixing the four-axis second bearing.

[0037] like Figure 1 , Figure 2 and Figure 3 As shown, in the robot arm of the present invention, the three-axis axis A is the center of the installation interface of the four-axis main housing 01 for installation with the outside (i.e., the axis of the three-axis installation part of the four-axis main housing 01), the four-axis axis B is the coaxial axis of the J4 quasi-hyperid passive gear 004 (i.e., the axis of the four-axis auxiliary housing installation part), the five-axis axis C is the coaxial axis of the J6 quasi-hyperid passive gear 008 and the J5 quasi-hyperid passive gear 015, and the six-axis axis D is the axis of the J62 bevel gear passive gear 017. Among them, J4, J5, and J6 represent the fourth axis, the fifth axis, and the sixth axis of the industrial robot respectively, and J62 is a component of the sixth axis. These abbreviations are well known in the art. The three-axis axis A, the four-axis axis B, the five-axis axis C, and the six-axis axis D of the robot arm of the industrial robot are arranged vertically. In order to install the motor assembly, transmission assembly or reduction mechanism in the corresponding housing, the present invention processes and designs the connection components such as the mounting holes and the connection plates for each housing.

[0038] like Figure 4The figure shows a schematic diagram of the forearm intermediate housing 04 of this example. The forearm intermediate housing 04 has a certain axial length. The forearm intermediate housing 04 is provided with a connecting shaft hole 001a and a six-axis motor mounting hole 001b. The forearm intermediate housing 04 is provided with a connecting plate 018 at the rear end. The connecting plate 018 is provided with a five-axis motor mounting hole 001c. The six-axis motor is installed on the back side of the six-axis motor mounting hole 001b, located above the connecting shaft hole 001a. The five-axis motor is installed on the back side of the connecting plate 018, so that the six-axis motor and the five-axis motor are staggered, saving installation space and not interfering with each other. After the forearm intermediate housing 04 is assembled with the forearm front end housing 05, the six-axis motor and the five-axis motor are both located outside the electromechanical installation body assembled therefrom, which is convenient for replacement. When the electromechanical installation body is installed in the forearm rear end housing, the forearm rear end housing protects the six-axis motor and the five-axis motor. Figure 4 The motor mounting plate 018 and the six-axis motor mounting hole 001b shown in the figure can be adapted according to the motor power and the interface to meet different scene requirements. Figure 5 As shown in FIG. 1 , it is a schematic diagram of the forearm front end housing 05 of this example. The forearm front end housing 05 is provided with a five-axis transmission shaft mounting hole 001d, a six-axis transmission shaft mounting hole 001e and a bearing inner hole 001f. Figure 3 As shown, the wrist shell 06 is provided with a wrist shell inner hole 001g.

[0039] Inside the forearm shell, the five-axis motor 009 is coaxially connected with the five-axis motor gear 010, and the body of the five-axis motor 009 is fixed to the connecting plate 018 on the forearm intermediate housing 04; the five-axis connecting shaft gear 011 is fixedly connected with the gear shaft 012, and the gear shaft 012 is placed from the front end of the forearm intermediate housing 04 into the connecting shaft hole 001a of the forearm rear end housing, and the five-axis motor gear 010 and the five-axis connecting shaft gear 011 together constitute a five-axis first-stage reduction mechanism 501; the tooth position of the gear shaft 012 is meshed with the J5 transmission shaft gear 013 to constitute a five-axis second-stage reduction mechanism 502; the J5 transmission shaft gear 013 is coaxially connected with the J5 quasi-hyperboloid driving gear 014 and fixed in the five-axis transmission shaft mounting hole 001d, and the J5 quasi-hyperboloid driving gear 014 is meshed with the J5 quasi-hyperboloid driven gear 015 to constitute a five-axis third-stage reduction mechanism 503.

[0040] A J5 shaft seat, a fifth-axis second bearing and a fifth-axis nut are also provided between the J5 quasi-hyperid driving gear 014 and the J5 transmission shaft gear 013; the fifth-axis second bearing is installed at both ends of the J5 shaft seat, the J5 quasi-hyperid driving gear 014 is fixed to the inner ring of the fifth-axis second bearing, and the five-axis nut is sleeved on the thread of the J5 quasi-hyperid driving gear 014 for fixing the fifth-axis second bearing; a J6 shaft seat, a sixth-axis third bearing and a sixth-axis nut are also provided between the J6 quasi-hyperid driving gear 007 and the J6 transmission shaft gear 006; the sixth-axis third bearing is installed at both ends of the J6 shaft seat, the J6 quasi-hyperid driving gear 014 is fixed to the inner ring of the sixth-axis third bearing, and the six-axis nut is sleeved on the thread of the J6 quasi-hyperid driving gear 014 for fixing the sixth-axis third bearing.

[0041] The bearing inner hole 001f in the front end housing 05 of the forearm is equipped with a six-axis first bearing, on which a circular gasket, an adjustment gasket, a J5 quasi-hyperboloid passive gear 015 and a J6 quasi-hyperboloid passive gear 008 are installed; a six-axis second bearing is arranged in the wrist housing, and the J62 bevel gear passive gear 017 is connected to the six-axis second bearing and fixed inside the wrist housing.

[0042] like Figure 2 As shown, the six-axis motor 019 is coaxially connected with the six-axis motor gear 005, the body of the six-axis motor 019 is installed in the six-axis motor mounting hole 001b of the middle housing 04 of the forearm, and the six-axis motor gear 005 is meshed with the J6 transmission shaft gear 006, together forming a six-axis first-stage reduction mechanism 601; the J6 transmission shaft gear 006 is coaxially fixedly connected with the J6 quasi-hyperid driving gear 007 and fixed to the six-axis transmission shaft mounting hole 001e; the J6 quasi-hyperid driving gear 007 is connected with the J6 quasi-hyperid driven gear 008 fixed on the spline of the J62 bevel gear driving gear 016, and the J6 quasi-hyperid driving gear 007 and the J6 quasi-hyperid driven gear 008 together form a six-axis second-stage reduction mechanism 602. The J62 bevel gear driving gear 016 is arranged in the inner hole 001f of the bearing, and the J62 bevel gear driven gear 017 is connected to the bearing and fixed in the inner hole 001g of the wrist housing. Finally, the J62 bevel gear driving gear 016 and the J62 bevel gear driven gear 017 are meshed, and the J62 bevel gear driving gear 016 and the J62 bevel gear driven gear 017 together constitute the six-axis third-stage reduction mechanism 603.

[0043] Each connecting part is placed in the integrated rear end housing, front end housing and wrist housing in a relatively reasonable workpiece layout, ensuring its overall rigidity while taking into account the overall lightweight design. After the components are installed, they are sealed with O-rings and locked with hexagon socket bolts.

[0044] like Figure 2As shown, the five-axis motor 009 and the six-axis motor 019 are installed on the outside of the electromechanical installation body which is composed of the middle shell 04 of the forearm and the front end shell 05 of the forearm fixedly connected (specifically, installed on the middle shell 04 of the forearm). When the five-axis motor or the six-axis motor needs to be adjusted or replaced according to scene requirements, it is only necessary to remove the electromechanical installation body from the rear end shell 03 of the forearm. There is no need to disassemble the electromechanical installation body, and the five-axis motor or the six-axis motor can be directly replaced to flexibly match the scene requirements.

[0045] like Figure 4 , Figure 5 The figure shows the internal arrangement of the forearm and wrist of the industrial robot in this example, the rear end structure of the forearm and its transmission structure, and its cross-sectional schematic diagram; the forearm housing is an integrated housing, and the integrated design ensures higher rigidity of the housing, and the various parts are installed from both ends, with high space utilization; at the same time, the five-axis first-stage reduction mechanism 501 and the transmission shaft assembly are installed in the inner cavity of the integrated housing, and this section of the lubricating oil circuit is integrated, reducing the risk of leakage of the overall lubricating oil circuit. Furthermore, the lubricating oil circuits between the five-axis first-stage reduction mechanism, the gear shaft 012, and the six-axis first-stage reduction mechanism in the forearm intermediate housing 04 are interconnected.

[0046] Based on the specific structure described above, this embodiment provides a method for installing the robot arm of the industrial robot. It should be noted that some of the preferred components introduced above are not necessary components of the robot arm of the present invention. When these preferred components are not selected, the corresponding installation steps of these preferred components in the following installation method can be omitted. The installation method of the robot arm includes the following steps:

[0047] 1) Install the first bearing of the four-axis at the lower end of the four-axis main housing 01, install the adjusting gasket, J4 quasi-hyperid passive gear 004, the intermediate connecting shaft, the oil seal on the first bearing of the four-axis and lock it with bolts; install the second bearing of the four-axis into the rear end of the J4 quasi-hyperid active gear 003, install the four-axis sleeve, press in the second bearing of the four-axis and lock it with a nut; install the J4 motor gear 001 on the rotating shaft of the four-axis motor 020 and fix it with bolts; install the J4 quasi-hyperid active gear assembly and the four-axis motor assembly into the J4 quasi-hyperid active gear assembly mounting hole 001j and the four-axis motor mounting hole 001i of the four-axis auxiliary housing 02 respectively; combine the four-axis auxiliary housing and the four-axis main housing and lock them with bolts.

[0048] 2) Place the five-axis first-stage reduction mechanism 501 from the rear end of the forearm intermediate housing 04 into the five-axis motor mounting hole 001c of the connecting plate 018, place the gear shaft 012 from the front end of the forearm intermediate housing 04 into the connecting shaft hole 001a and assemble with the five-axis first-stage reduction mechanism 501; place the six-axis first-stage reduction mechanism 601 from the front end of the forearm intermediate housing 04 into the six-axis motor mounting hole 001b;

[0049] 3) Connect the front end housing of the forearm with the wrist housing through the first bearing of the five-axis; install the five-axis second-stage reduction mechanism, the five-axis third-stage reduction mechanism and the six-axis second-stage reduction mechanism into the front end housing of the forearm; install the six-axis third-stage reduction mechanism into the wrist housing; check and adjust each transmission component with meshing transmission relationship to ensure mutual meshing; Step 3) may specifically include the following steps:

[0050] 3.1) Install the first bearing of the fifth axis into the inner hole 001f of the bearing of the front end housing 05 of the forearm, install the round gasket, the adjusting gasket, and the J5 hypoid passive gear 015 on the first bearing of the sixth axis; install the spline end of the J62 bevel gear driving gear 016 from the lower end of the J5 hypoid passive gear 015 into the inner hole 001f of the bearing, and then install the first bearing of the sixth axis, the adjusting gasket, the J6 hypoid passive gear 008, and the nut in sequence into the spline end of the J62 bevel gear driving gear 016;

[0051] 3.2) Install the fifth-axis second bearing, J5 shaft seat, fifth-axis second bearing, fifth-axis nut, and J5 transmission shaft gear 013 on the J5 hypoid driving gear 014 in sequence to form the J5 hypoid driving gear assembly; install the sixth-axis third bearing, J6 shaft seat, sixth-axis third bearing, sixth-axis nut, and J6 transmission shaft gear 006 on the J6 hypoid driving gear 007 in sequence to form the J6 hypoid driving gear assembly;

[0052] 3.3) Install the five-axis second-stage reduction mechanism 502 and the J5 hypoid driving gear assembly into the front end housing 05 of the forearm; wherein one end of the five-axis second-stage reduction mechanism 502 is transmission-connected with the gear shaft 012; the other end of the five-axis second-stage reduction mechanism 502 is transmission-connected with the J5 hypoid driving gear 014 through the J5 transmission shaft gear 013; the J5 hypoid driving gear 014 is meshed with the J5 hypoid passive gear 015;

[0053] 3.4) Install the J6 hypoid driving gear assembly into the front end housing 05 of the forearm, and connect one end of the J6 hypoid driving gear 007 to the J6 transmission shaft gear 006, and mesh the other end of the J6 hypoid driving gear 007 with the J6 hypoid passive gear 008;

[0054] 3.5) Connect the J62 bevel gear driven gear 017 with the adjustment gasket and the second bearing of the sixth axis to form the J62 bevel gear driven gear assembly; then install the J62 bevel gear driven gear assembly into the wrist housing 06, and make the J62 bevel gear driven gear 017 mesh with the J62 bevel gear driving gear 016;

[0055] 4) Assemble the middle shell of the forearm and the front shell of the forearm, and then connect the rear shell of the forearm to form the forearm shell. Finally, assemble the forearm shell with the four-axis shell through the first bearing of the four-axis. At this point, the installation of the robot arm of the industrial robot is completed.

[0056] According to test data, the rigidity of the integrated structure of the robot arm of the industrial robot proposed in the present invention is 30% higher than that of the split type. At the same time, the arm precision can reach ±0.025mm, and the end can withstand 8 times the rated torque impact, which far exceeds the impact resistance of other existing series of reducers. Research data shows that the present invention improves the overall rigidity, load-bearing capacity, stability and impact resistance of the industrial robot; at the same time, the external interface and the connection mode of each joint and the motor interface adopt a flexible design, and the interface is flexibly converted, so that it can shorten the product development cycle and product production cycle without affecting the performance, reduce the development and production costs, and have higher economic benefits.

[0057] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. For ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A robot arm of an industrial robot, characterized in that It includes a four-axis housing, a wrist housing, and a forearm housing composed of a forearm rear end housing, a forearm middle housing, and a forearm front end housing; A four-axis first-stage reduction mechanism and a four-axis second-stage reduction mechanism connected by transmission are arranged in the four-axis housing; the four-axis housing is detachably connected to the rear end housing of the forearm through the four-axis first bearing; the middle housing of the forearm and the front end housing of the forearm are fixedly connected by bolts to form an electromechanical installation body, and a three-stage five-axis reduction mechanism connected in sequence by transmission and a six-axis first-stage reduction mechanism and a six-axis second-stage reduction mechanism connected by transmission are arranged in the electromechanical installation body, and the assembly of the forearm housing is achieved by sleeved and fixed the middle housing part of the forearm of the electromechanical installation body in the rear end housing of the forearm; a six-axis third-stage reduction mechanism connected by transmission to the six-axis second-stage reduction mechanism is arranged in the wrist housing; the front end housing of the forearm is detachably connected to the wrist housing through the five-axis first bearing; the four-axis second-stage reduction mechanism, the five-axis third-stage reduction mechanism and the six-axis second-stage reduction mechanism are all quasi-hyperbolic gear reduction mechanisms.

2. The robot arm of the industrial robot according to claim 1, characterized in that: The four-axis housing includes a four-axis main housing and a four-axis sub-housing; the four-axis main housing is provided with a four-axis motor mounting hole and a four-axis sub-housing mounting portion, a three-axis mounting portion connected to the outside, and a four-axis mounting portion connected to the rear end housing of the forearm; wherein the four-axis motor mounting hole and the four-axis sub-housing mounting portion are both located below the four-axis mounting portion, the four-axis motor is mounted below the outside of the four-axis main housing through the mounting hole, the body of the four-axis motor is fixed on the four-axis sub-housing, the four-axis first-stage reduction mechanism is arranged in the four-axis sub-housing, the four-axis sub-housing is detachably connected to the four-axis sub-housing mounting portion, and the four-axis first bearing is arranged in the four-axis mounting portion.

3. The robot arm of the industrial robot according to claim 2, characterized in that: The four-axis first-stage reduction mechanism includes a J4 motor gear and a J4 spur gear that are meshed with each other; the J4 motor gear is connected to the output end of the four-axis motor; the four-axis second-stage reduction mechanism includes a J4 quasi-hyperid driving gear and a J4 quasi-hyperid passive gear that are meshed with each other, the J4 spur gear and the J4 quasi-hyperid driving gear are integrated gears, and the two are coaxially arranged; the J4 spur gear and the four-axis second bearing are fixed on the four-axis sleeve, and the four-axis sleeve is installed in the J4 quasi-hyperid driving gear assembly mounting hole of the four-axis sub-housing; the J4 quasi-hyperid passive gear is fixed on the four-axis first bearing.

4. The robot arm of the industrial robot according to claim 1, characterized in that: The three-stage five-axis reduction mechanism includes a five-axis first-stage reduction mechanism, a five-axis second-stage reduction mechanism and a five-axis third-stage reduction mechanism; the five-axis first-stage reduction mechanism includes a five-axis motor gear and a five-axis connecting shaft gear that are meshed with each other; the five-axis motor gear is connected to the output end of the five-axis motor; the five-axis second-stage reduction mechanism includes a J5 transmission shaft gear and a gear shaft that are meshed with each other; the J5 transmission shaft gear is connected to the five-axis connecting shaft gear through the gear shaft; the five-axis third-stage reduction mechanism includes a J5 quasi-hyperbolic driving gear and a J5 quasi-hyperbolic passive gear that are meshed with each other; the J5 quasi-hyperbolic driving gear is coaxially arranged and fixedly connected with the J5 transmission shaft gear.

5. The robot arm of the industrial robot according to claim 4, characterized in that: The rear end face of the middle shell of the forearm is located inside the rear end shell of the forearm, and the rear end face is provided with a five-axis motor mounting hole for installing the five-axis motor; a connecting shaft hole for installing the gear shaft is provided in the middle shell of the forearm, and a six-axis motor mounting hole for installing the six-axis motor is provided on the front end face, wherein the connecting shaft hole passes through the front end face.

6. The robot arm of the industrial robot according to claim 5, characterized in that: The lubricating oil paths among the five-axis first-stage reduction mechanism, the gear shaft and the six-axis first-stage reduction mechanism in the intermediate housing of the forearm are connected to each other.

7. The robot arm of the industrial robot according to claim 4, characterized in that: The six-axis first-stage reduction mechanism includes a six-axis motor gear and a J6 transmission shaft gear that mesh with each other; the six-axis motor gear is connected to the output end of the six-axis motor, and the six-axis second-stage reduction mechanism includes a J6 hypoid driving gear and a J6 hypoid passive gear that mesh with each other; the J6 hypoid passive gear and the J5 hypoid passive gear are coaxial; The J6 hypoid driving gear is coaxially arranged and fixedly connected with the J6 transmission shaft gear; the six-axis third-stage reduction mechanism includes a J62 bevel gear driving gear and a J62 bevel gear driven gear that are meshed with each other; and the J6 hypoid driven gear is fixed on the spline of the J62 bevel gear driving gear.

8. The robot arm of the industrial robot according to claim 7, characterized in that: The three-axis axis, four-axis axis, five-axis axis and six-axis axis of the robot arm are perpendicular to each other; the three-axis axis is the center of the three-axis mounting part on the four-axis main housing, the four-axis axis is the axis of the J4 quasi-hyperboloid passive gear of the four-axis second-stage reduction mechanism, the five-axis axis is the coaxial axis of the J6 quasi-hyperboloid passive gear and the J5 quasi-hyperboloid passive gear, and the six-axis axis is the axis of the J62 bevel gear passive gear.

9. The robot arm of the industrial robot according to claim 4, characterized in that: The front end housing of the forearm is provided with a bearing inner hole, in which the first six-axis bearing is installed, on which a circular gasket, an adjustment gasket, a J5 quasi-hyperboloid passive gear and a J6 quasi-hyperboloid passive gear are installed; a second six-axis bearing is arranged in the wrist housing, and the J62 bevel gear passive gear is connected to the second six-axis bearing and fixed inside the wrist housing.

10. A method for installing a robot arm of an industrial robot according to claim 3, characterized in that: The steps include: 1) Install the first bearing of the four-axis on the four-axis mounting part, install the J4 hypoid passive gear on the first bearing of the four-axis, install the second bearing of the four-axis into the rear end of the J4 hypoid driving gear, install the four-axis sleeve, press in the second bearing of the four-axis and lock it; install the J4 motor gear on the four-axis motor shaft, install the J4 hypoid driving gear assembly and the four-axis motor assembly into the J4 hypoid driving gear assembly mounting hole and the four-axis motor mounting hole of the four-axis sub-housing respectively; combine the four-axis sub-housing and the four-axis main housing and lock them with bolts; 2) Place the five-axis first-stage reduction mechanism from the rear end of the forearm intermediate housing into the five-axis motor mounting hole, place the gear shaft from the front end of the forearm intermediate housing into the connecting shaft hole and assemble with the five-axis first-stage reduction mechanism; place the six-axis first-stage reduction mechanism from the front end of the forearm intermediate housing into the six-axis motor mounting hole; 3) Connect the front end housing of the forearm with the wrist housing through the first bearing of the five-axis; install the second-stage reduction mechanism of the five-axis, the third-stage reduction mechanism of the five-axis and the second-stage reduction mechanism of the six-axis into the front end housing of the forearm; install the third-stage reduction mechanism of the six-axis into the wrist housing; check and adjust the transmission components with meshing transmission relationship to ensure mutual meshing; 4) Assemble the middle shell of the forearm and the front shell of the forearm, and then connect the rear shell of the forearm to form the forearm shell. Finally, assemble the forearm shell with the four-axis shell through the first bearing of the four-axis. At this point, the installation of the robot arm of the industrial robot is completed.

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