The robotic arm of an industrial robot

Abstract

The present invention discloses a robotic arm of an industrial robot, belonging to the field of mechanical transmission. The arm includes: a four-axis housing, a wrist housing, and a forearm housing composed of a rear-end forearm housing, an intermediate forearm housing, and a front-end forearm housing. A four-axis reduction mechanism is arranged inside the four-axis housing, a five-axis reduction mechanism, a six-axis first-stage reduction mechanism, and a six-axis second-stage reduction mechanism are arranged inside the forearm housing, and a six-axis third-stage reduction mechanism is arranged inside the wrist housing; the four-axis, five-axis, and six-axis reduction mechanisms all adopt a combined transmission mode of hypoid gears and involute gears, having the advantages of stable operation and strong impact resistance. While ensuring a reasonable layout, the entire arm system takes into account the overall lightweight design. In addition, the connection methods of the external interfaces with each joint and the motor interfaces adopt a flexible design, and the interfaces can be flexibly converted, with stronger applicability.

Description

Technical Field

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

[0002] The hypoid gear reducer is a transmission device that adopts multi-stage gear transmission and uses a high-reduction hypoid gear at the end. The application of the hypoid gear reducer in the robotic arm of an industrial robot has significant advantages, and its main advantages include high transmission ratio, high precision, high impact resistance, and high rigidity; smooth transmission, high load-bearing and impact resistance capabilities; and the ability to adapt to a variety of external environments and harsh operating conditions. At the same time, this transmission device is integrated into the robotic arm, with high space utilization rate, greatly reducing the impact of its structure on the outside.

[0003] The main problems existing in the existing robotic arms of small-load industrial robots include:

[0004] 1. Although the hypoid gear reducer can be produced in series, due to the different requirements of different application scenarios, the installation interfaces and dimensional specifications are diverse, resulting in the reducer not being universal among different devices.

[0005] 2. The housing of the robotic arm is designed as a split structure, which may lead to insufficient overall rigidity, affecting the stability and precision of the robotic arm. In addition, the motor installation interface is single, restricting the selection and installation flexibility of the motor. 3. The existing design schemes of robotic arms are relatively single and lack flexibility, resulting in limited configuration at the user end and being unable to meet diverse application requirements. Summary of the Invention

[0006] 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: the fourth axis, the fifth axis, and the wrist. The fourth axis and the fifth axis are connected by a transition at the rear end housing of the forearm, and the fifth axis is directly connected to the wrist; among them, the rear end housing of the forearm is integrally designed, with fewer parts to be processed, higher economy, and increased overall rigidity of the forearm compared to the split type; at the same time, the oil circuit of the fifth axis is integrally designed in the middle housing of the forearm; there is no need to use seals for sealing, improving the overall sealing performance of the arm.

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

[0008] The robotic arm of the industrial robot provided by the present invention includes a four-axis housing, a wrist housing, and a forearm housing composed of a rear-end forearm housing, a middle forearm housing, and a front-end forearm 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 forearm housing through a four-axis first bearing; the middle forearm housing and the front-end forearm housing are fixedly connected by bolts to form an electromechanical installation body, and a three-stage five-axis reduction mechanism 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. The assembly of the forearm housing is realized by sleeving and fixing the middle forearm housing part of the electromechanical installation body in the rear-end forearm housing; a six-axis third-stage reduction mechanism connected to the six-axis second-stage reduction mechanism by transmission is arranged in the wrist housing; the front-end forearm housing 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 solution 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, a four-axis sub-housing mounting part, a three-axis mounting part for connecting to the outside, and a four-axis mounting part for connecting to the rear-end forearm housing; wherein, the four-axis motor mounting hole and the four-axis sub-housing mounting part are both located below the four-axis mounting part, the four-axis motor is mounted outside the lower part 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 part, and the four-axis first bearing is arranged in the four-axis mounting part. The four-axis first-stage reduction mechanism includes a J4 motor gear and a J4 spur gear that mesh 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 hypoid drive gear and a J4 hypoid driven gear that mesh with each other, and the J4 spur gear and the J4 hypoid drive gear are an integral gear and are coaxially arranged.

[0010] As a preferred solution 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 mesh 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 tooth shaft that mesh with each other; the J5 transmission shaft gear is connected to the five-axis connecting shaft gear through the tooth shaft; the five-axis third-stage reduction mechanism includes a J5 hypoid drive gear and a J5 hypoid driven gear that mesh with each other; the J5 hypoid drive gear is coaxially arranged and fixedly connected to 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 drive shaft gear that mesh with each other; the six-axis motor gear is connected to the output end of the six-axis motor. The six-axis second-stage reduction mechanism includes a J6 hypoid drive gear and a J6 hypoid driven gear that mesh with each other; the J6 hypoid driven gear and the J5 hypoid driven gear are coaxial; the J6 hypoid drive gear is coaxially arranged and fixedly connected with the J6 drive shaft gear; the six-axis third-stage reduction mechanism includes a J62 bevel drive gear and a J62 bevel driven gear that mesh with each other; and the J6 hypoid driven gear is fixed on the spline of the J62 bevel drive gear.

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

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

[0014] 1) The small arm body of the robot arm of the present invention is integrally designed in three sections: the small arm rear housing, the small arm middle housing, and the small arm front housing. The small arm middle housing and the small arm front housing are integrally combined. The three-stage five-axis reduction mechanism, the six-axis first-stage reduction mechanism, and the six-axis second-stage reduction mechanism are all installed within this integral. During installation, first install the reduction mechanisms within this integral in place and form an integral, and then connect it to the small arm rear housing. No reduction mechanism is directly installed within the rear housing itself. This layout makes the overall assembly of the small arm assembly more convenient and fast. Moreover, the installation interface of the small arm rear housing can be flexibly adapted to the installation interfaces and various dimensional specifications of the small arm front housing and the small arm middle housing, making the robot arm universal. The connection method of the small arm rear housing is more flexible, with stronger market adaptability and higher economy.

[0015] 2) The input end of the robotic arm of the present invention, i.e., the motor installation port, is designed in a split manner, which can meet the diverse application requirements of the market, is fast and convenient, and provides economic benefits. The five-axis motor and the six-axis motor are installed on the outside of the electromechanical installation body formed by the fixed connection of the middle shell of the small arm and the front shell of the small arm. When it is necessary to adjust or replace the five-axis motor or the six-axis motor according to requirements, the electromechanical installation body can be taken out from the rear shell of the small arm, and 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 auxiliary shell is used to fix the body of the four-axis motor, which is convenient for the four-axis motor to be replaced according to needs; the four-axis auxiliary shell and the four-axis main shell are designed in a split manner, and the reduction mechanism inside the four-axis auxiliary shell can be adjusted according to requirements, which is flexible and convenient.

[0016] 3) The four-axis, five-axis, and six-axis of the robotic arm of the present invention are independently designed and can operate independently. The middle shell of the small arm is arranged according to requirements and can provide different joint arrangement methods as needed.

[0017] 4) The rigidity of the integral structure of the robotic arm of the present invention is significantly increased compared with the split type. At the same time, the accuracy of the arm can reach ±0.025 mm, and the end can withstand an impact of 8 times the rated torque, far exceeding the impact resistance of other existing series of speed reducers. The present invention improves the overall rigidity, load-bearing capacity, stability, and impact resistance of industrial robots. Description of the Drawings

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

[0019] Figure 2 It is a schematic diagram of the reduction structure of the robotic arm of an industrial robot of the present invention;

[0020] Figure 3 It is a partial sectional view of the wrist arrangement and reduction structure of the robotic arm of an industrial robot in an embodiment of the present invention;

[0021] Figure 4 It is a sectional view of the integral middle shell structure of the robotic arm of an industrial robot of the present invention and its section;

[0022] Figure 5 It is a schematic diagram of the front shell structure of the small arm of the robotic arm of an industrial robot of the present invention.

[0023] Figure 6 It is a schematic diagram of the four-axis structure and its section of the robotic arm of an industrial robot of the present invention.

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

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

[0026] Axis center A of the three-axis, axis center B of the four-axis, axis center C of the five-axis, axis center D of the six-axis;

[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, inner hole 001g of the wrist housing, four-axis first bearing inner hole 001h, four-axis motor mounting hole 001i, mounting hole 001j for the J4 hypoid drive gear assembly. Detailed implementation mode

[0028] The present invention will be further described and explained below in conjunction with the detailed implementation mode. The above embodiments are only examples of the present disclosure and do not delimit the scope of limitation. The technical features of each implementation mode in the present invention can be combined correspondingly without conflict.

[0029] Currently, the most common in the industrial field is the six-axis robot, which has 6 degrees of freedom of movement. With this characteristic, it can complete extremely complex spatial movements and perform excellently in high-precision and highly flexible operation tasks. Moreover, the robotic arm involved in the present invention has achieved a major breakthrough in performance. It has a compact structure, moves flexibly, has the characteristics of high rigidity, and has extremely strong impact resistance, which enables it to be competent for more demanding working environments, such as polishing, grinding, and welding, where high equipment performance is required. The robotic arm introduced in the present invention is specially adapted to industrial six-axis robots with high rigidity requirements. The input end of this robotic arm adopts a split design, where the fourth axis and the fifth and sixth axes are independent and can operate independently, greatly improving the flexibility and autonomy of operation. The design of the middle housing of the forearm is unique and can be flexibly arranged according to actual needs. It can provide diverse joint arrangement methods according to different application scenarios to meet various complex operation requirements.

[0030] The composition of the robotic arm of the industrial robot provided in this example is as Figure 1 shown; mainly including a fourth-axis housing composed of a fourth-axis main housing 01 and a fourth-axis sub-housing 02, a wrist housing, and a forearm housing composed of a rear forearm housing 03, a middle forearm housing 04, and a front forearm housing 05 from the outer shell. Among them, the front end face of the middle forearm housing 04 is fixedly connected to the front forearm housing 05 to form an electromechanical installation body; a three-stage fifth-axis reduction mechanism and a sixth-axis first-stage reduction mechanism and a sixth-axis second-stage reduction mechanism connected by transmission are sequentially arranged in the electromechanical installation body. The assembly of the forearm housing is realized by sleeving and fixing the middle forearm housing part of the electromechanical installation body in the rear forearm housing 03. In a specific embodiment, the fourth-axis main housing 01 and the fourth-axis sub-housing 02 are connected by bolts, and the rear forearm housing, the middle forearm housing, and the front forearm are connected by bolts.

[0031] The reduction mechanisms of the robotic arm are arranged in the corresponding housings. Specifically, a fourth-axis first-stage reduction mechanism 401 is arranged in the fourth-axis sub-housing 02, and a fourth-axis second-stage reduction mechanism 402 is arranged in the fourth-axis main housing 01; the fourth-axis main housing is connected to the rear forearm housing through a fourth-axis first bearing; a three-stage fifth-axis reduction mechanism (a fifth-axis first-stage reduction mechanism 501, a fifth-axis second-stage reduction mechanism 502, a fifth-axis third-stage reduction mechanism 503) and a sixth-axis first-stage reduction mechanism 601 and a sixth-axis second-stage reduction mechanism 602 connected by transmission are sequentially arranged in the electromechanical installation body, and a sixth-axis third-stage reduction mechanism 603 connected to the sixth-axis second-stage reduction mechanism 602 is arranged in the wrist housing; the forearm housing is connected to the wrist housing through a fifth-axis first bearing; the fourth-axis second-stage reduction mechanism 402, the fifth-axis third-stage reduction mechanism 503, and the sixth-axis second-stage reduction mechanism 602 are all hypoid gear reduction mechanisms.

[0032] As Figure 2 shown, the composition of each stage of the speed reduction mechanism of the present invention is as follows: The first-stage speed reduction mechanism 401 of the fourth shaft is jointly composed of the J4 motor gear 001 and the J4 spur gear 002 in meshing transmission; the second-stage speed reduction mechanism 402 of the fourth shaft is jointly composed of the J4 hypoid drive gear 003 and the J4 hypoid driven gear 004. The first-stage speed reduction mechanism 501 of the fifth shaft is jointly composed of the fifth-shaft motor gear 010 and the fifth-shaft connecting shaft gear 011; the second-stage speed reduction mechanism 502 of the fifth shaft is composed of the tooth shaft 012 and the J5 transmission shaft gear 013; the third-stage speed reduction mechanism 503 of the fifth shaft is jointly composed of the J5 hypoid drive gear 014 and the J5 hypoid driven gear 015. The first-stage speed reduction mechanism 601 of the sixth shaft is jointly composed of the sixth-shaft motor gear 005 and the J6 transmission shaft gear 006; the second-stage speed reduction mechanism 602 of the sixth shaft is jointly composed of the J6 hypoid drive gear 007 and the J6 hypoid driven gear 008; the third-stage speed reduction mechanism 603 of the sixth shaft is jointly composed of the J62 bevel drive gear 016 and the J62 bevel driven gear 017.

[0033] In a specific embodiment of the present invention, the fourth-shaft housing includes a fourth-shaft main housing 01 and a fourth-shaft auxiliary housing 02 that are connected to each other; the fourth-shaft main housing 01 has a fourth-shaft motor mounting hole, a fourth-shaft auxiliary housing mounting portion, a three-shaft mounting portion for connecting to the outside, and a fourth-shaft mounting portion for connecting to the rear-end housing 03 of the small arm; wherein, both the fourth-shaft motor mounting hole and the fourth-shaft auxiliary housing mounting portion are located below the fourth-shaft mounting portion, the fourth-shaft motor is mounted outside the fourth-shaft main housing through the mounting hole, the body of the fourth-shaft motor is fixed on the fourth-shaft auxiliary housing 01, the first-stage speed reduction mechanism 401 of the fourth shaft is arranged in the fourth-shaft auxiliary housing 02, the fourth-shaft auxiliary housing 02 is detachably connected to the fourth-shaft auxiliary housing mounting portion, and the first bearing of the fourth shaft is arranged in the fourth-shaft mounting portion.

[0034] As Figure 6 shown is a schematic diagram of the fourth-shaft main housing 01 and the fourth-shaft auxiliary housing 02 schematically illustrated in this example. The fourth-shaft main housing 01 is provided with a fourth-shaft first bearing inner hole 001h for mounting the first bearing of the fourth shaft, and the fourth-shaft auxiliary housing 02 is provided with a fourth-shaft motor mounting hole 001i and a J4 hypoid drive gear assembly mounting hole 001j.

[0035] Among them, the fourth-shaft motor 020 is coaxially connected to the J4 motor gear 001, and the J4 motor gear 001 is arranged at the output end of the fourth-shaft motor 020; the body of the fourth-shaft motor 020 is fixed on the fourth-shaft auxiliary housing 02 and is aligned and connected with the fourth-shaft motor mounting hole 001i. As Figure 2As shown, the four-axis motor 020 is entirely located outside the four-axis secondary housing 02 and can be easily replaced according to the required output power. The J4 hypoid drive pinion 003 is connected to the J4 hypoid drive pinion assembly mounting hole 001j, and the J4 hypoid drive pinion 003 is equipped with a J4 spur gear 002; the J4 hypoid driven gear 004 is fixed on the first four-axis bearing on the four-axis main housing 01, and the four-axis first bearing is fixedly connected in alignment with the four-axis first bearing inner hole 001h; the J4 motor gear 001 and the J4 spur gear 002 are in meshing transmission to jointly form the four-axis first-stage reduction mechanism 401; the J4 hypoid drive pinion 003 and the J4 hypoid driven gear 004 jointly form the four-axis second-stage reduction mechanism 402.

[0036] The body of the four-axis motor 020 is fixed on the four-axis secondary housing 02 and is connected in alignment 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 bushing, and the four-axis bushing is installed in the J4 hypoid drive pinion assembly mounting hole 001j of the four-axis secondary housing 02; the four-axis bushing is fixed on the four-axis secondary housing; a J4 shaft seat, a four-axis second bearing, and a four-axis nut are provided at the rear end of the J4 spur gear 002; the two ends of the J4 shaft seat are installed with four-axis second bearings, the rear end of the J4 spur gear 002 is fixedly connected 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] As Figure 1 、 Figure 2 and Figure 3 As shown in [relevant figures], in the robotic arm of the present invention, the three-axis axis A is the center of the mounting interface of the four-axis main housing 01 for mounting with the outside (i.e., the axis of the three-axis mounting portion of the four-axis main housing 01), the four-axis axis B is the axis coaxial with the J4 hypoid driven gear 004 (i.e., the axis of the four-axis secondary housing mounting portion), the five-axis axis C is the axis coaxial with the J6 hypoid driven gear 008 and the J5 hypoid driven gear 015, and the six-axis axis D is the axis of the J62 bevel driven gear 017. Among them, J4, J5, and J6 respectively represent the fourth axis, the fifth axis, and the sixth axis of the industrial robot, 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 robotic arm of the industrial robot are arranged perpendicular to each other for adjacent two axes. In order to install the motor assembly, the transmission assembly, or the reduction mechanism in the corresponding housing; the present invention has designed the processing of connection components such as mounting holes and connecting plates for each housing.

[0038] As Figure 4The following is a schematic diagram of the middle forearm housing 04 shown in this example. The middle forearm housing 04 has a certain axial length. Inside the middle forearm housing 04, a connecting shaft hole 001a and a six-axis motor mounting hole 001b are respectively provided. At the rear end of the middle forearm housing 04, a connecting plate 018 is provided, and a five-axis motor mounting hole 001c is provided on the connecting plate 018. The six-axis motor is mounted on the back side of the six-axis motor mounting hole 001b, above the connecting shaft hole 001a. The five-axis motor is mounted on the back side of the connecting plate 018, so that the six-axis motor and the five-axis motor are staggered from each other, saving installation space and not interfering with each other. After the middle forearm housing 04 and the front forearm housing 05 are assembled, both the six-axis motor and the five-axis motor are located outside the assembled electromechanical mounting body, which is convenient for replacement. When the electromechanical mounting body is installed into the rear forearm housing, the rear forearm housing provides protection for the six-axis motor and the five-axis motor. Figure 4 The corresponding interfaces of the shown motor mounting plate 018 and the six-axis motor mounting hole 001b can be adapted according to the motor power and the interface to adapt to different scenario requirements. For example Figure 5 The following is a schematic diagram of the front forearm housing 05 shown in this example. The front forearm 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. For example Figure 3 The following is a schematic diagram of the wrist housing 06. A wrist housing inner hole 001g is provided on the wrist housing 06.

[0039] Inside the forearm housing, the five-axis motor 009 is coaxially connected to the five-axis motor gear 010, and the body of the five-axis motor 009 is fixed to the connecting plate 018 on the middle forearm housing 04. The five-axis connecting shaft gear 011 is fixedly connected to the tooth shaft 012. The tooth shaft 012 is inserted into the connecting shaft hole 001a of the rear forearm housing from the front end of the middle forearm housing 04. The five-axis motor gear 010 and the five-axis connecting shaft gear 011 together form a five-axis first-stage reduction mechanism 501. The tooth part of the tooth shaft 012 meshes with the J5 transmission shaft gear 013 to form a five-axis second-stage reduction mechanism 502. The J5 transmission shaft gear 013 is coaxially connected and fixed to the five-axis transmission shaft mounting hole 001d with the J5 hypoid drive gear 014. The J5 hypoid drive gear 014 meshes with the J5 hypoid driven gear 015 to jointly form a five-axis third-stage reduction mechanism 503.

[0040] A J5 axle seat, a fifth-axis second bearing, and a fifth-axis nut are also provided between the J5 hypoid drive pinion 014 and the J5 transmission shaft gear 013; the two ends of the J5 axle seat are equipped with the fifth-axis second bearing, and the J5 hypoid drive pinion 014 is fixed to the inner ring of the fifth-axis second bearing. The fifth-axis nut is sleeved on the thread of the J5 hypoid drive pinion 014 and is used to fix the fifth-axis second bearing; a J6 axle seat, a sixth-axis third bearing, and a sixth-axis nut are also provided between the J6 hypoid drive pinion 007 and the J6 transmission shaft gear 006; the two ends of the J6 axle seat are equipped with the sixth-axis third bearing, and the J6 hypoid drive pinion 014 is fixed to the inner ring of the sixth-axis third bearing. The sixth-axis nut is sleeved on the thread of the J6 hypoid drive pinion 014 and is used to fix the sixth-axis third bearing.

[0041] A sixth-axis first bearing is installed in the bearing inner hole 001f inside the front-end housing 05 of the forearm. A round gasket, an adjusting gasket, a J5 hypoid driven gear 015, and a J6 hypoid driven gear 008 are installed on the sixth-axis first bearing; a sixth-axis second bearing is arranged inside the wrist housing, and the J62 bevel driven gear 017 is connected to the sixth-axis second bearing and fixed inside the wrist housing.

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

[0043] Each connecting part is placed in the integrated rear-end housing of the forearm, the front-end housing of the forearm, and the wrist housing with a relatively reasonable workpiece layout, ensuring its overall rigidity while taking into account the overall lightweight design. After installing all components, it is sealed with an O-ring, and the rear-end housing of the forearm, the front-end housing of the forearm, and the wrist housing are locked with inner hexagon bolts.

[0044] As Figure 2As shown in the figure, the five-axis motor 009 and the six-axis motor 019 are installed on the outer side of the electromechanical installation body formed by the fixed connection of the middle forearm housing 04 and the front forearm housing 05 (specifically installed on the middle forearm housing 04). When it is necessary to adjust or replace the five-axis motor or the six-axis motor according to the scenario requirements, the electromechanical installation body can be taken out from the rear forearm housing 03. Without disassembling the electromechanical installation body, the five-axis motor or the six-axis motor can be directly replaced to flexibly match the scenario requirements.

[0045] As Figure 4 , Figure 5 shown, it is a schematic cross-sectional view of the rear-end structure of the forearm and its transmission structure of the forearm and wrist of the industrial robot in this example; the forearm housing is an integral housing, and the overall design ensures higher rigidity of the housing. Each part is loaded from both ends, and the space utilization rate is relatively high; 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 integral housing, and this section of the lubricating oil path is integral, reducing the risk of overall lubricating oil path leakage. Further, the lubricating oil paths among the five-axis first-stage reduction mechanism, the tooth shaft 012, and the six-axis first-stage reduction mechanism in the middle forearm housing 04 are interconnected.

[0046] Based on the specific structure described above, this embodiment provides an installation method for the robot arm of the industrial robot. It should be noted that some of the previously introduced preferred components are not essential 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 four-axis first bearing at the lower end of the four-axis main housing 01, install the adjusting gasket, the J4 hypoid passive gear 004, the intermediate connecting shaft, the oil seal on the four-axis first bearing and lock them with bolts; install the four-axis second bearing at the rear end of the J4 hypoid active gear 003, install the four-axis bushing, press in the four-axis second bearing 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 hypoid active gear assembly and the four-axis motor assembly into the J4 hypoid active gear assembly installation hole 001j and the four-axis motor installation hole 001i of the four-axis sub-housing 02 respectively; combine the four-axis sub-housing and the four-axis main housing and lock them with bolts.

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

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

[0050] 3.1) Install the first five-axis bearing in the bearing inner hole 001f of the front-end housing 05 of the forearm. Install a circular gasket, an adjusting gasket, and the J5 hypoid passive gear 015 on the first six-axis bearing. Insert the spline end of the J62 bevel driving gear 016 from the lower end of the J5 hypoid passive gear 015 into the bearing inner hole 001f, and then sequentially install the first six-axis bearing, an adjusting gasket, the J6 hypoid passive gear 008, and a nut on the spline end of the J62 bevel driving gear 016.

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

[0052] 3.3) Install the second-stage five-axis reduction mechanism 502 and the J5 hypoid driving gear assembly into the front-end housing 05 of the forearm; one end of the second-stage five-axis reduction mechanism 502 is in transmission connection with the tooth shaft 012; the other end of the second-stage five-axis reduction mechanism 502 is in transmission connection with the J5 hypoid driving gear 014 through the J5 transmission shaft gear 013; the J5 hypoid driving gear 014 meshes 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, connect one end of the J6 hypoid driving gear 007 to the J6 transmission shaft gear 006, and connect the other end of the J6 hypoid driving gear 007 to the J6 hypoid passive gear 008.

[0054] 3.5) Connect the J62 bevel driven gear 017 to an adjusting gasket and the second six-axis bearing to form a J62 bevel driven gear assembly; then install the J62 bevel driven gear assembly into the wrist housing 06 and make the J62 bevel driven gear 017 mesh with the J62 bevel driving gear 016.

[0055] 4) Assemble the middle housing of the forearm and the front housing of the forearm into one body, and then connect the rear housing of the forearm thereto to form the forearm housing. Finally, the forearm housing is assembled with the four-axis housing through the first bearing of the four-axis; thus, the installation of the robotic arm of the industrial robot is completed.

[0056] Based on the experimental data demonstration, the rigidity of the integrated structure of the robotic arm of the industrial robot proposed by the present invention is increased by 30% compared with the split type. At the same time, the accuracy of the arm can reach ±0.025 mm, and the end can withstand an impact of 8 times the rated torque, far exceeding the impact resistance of other existing series of speed reducers. The 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 connection method of the external interface and each joint and the motor interface adopt a flexible design, and the interface can be flexibly converted, so that without affecting the use performance, the product development cycle and the product production cycle are shortened, the development and production costs are reduced, and the economic benefits are higher.

[0057] The above embodiments only represent several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. For those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A robotic arm of an industrial robot, characterized in that It includes a four-axis housing, a wrist housing, and a forearm housing composed of a rear-end forearm housing, a middle forearm housing, and a front-end forearm 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 forearm housing through a four-axis first bearing; the middle forearm housing and the front-end forearm housing are fixedly connected by bolts to form an electromechanical installation body. A three-stage five-axis reduction mechanism 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. The assembly of the forearm housing is realized by sleeving and fixing the middle forearm housing part of the electromechanical installation body in the rear-end forearm housing; a six-axis third-stage reduction mechanism connected to the six-axis second-stage reduction mechanism by transmission is arranged in the wrist housing; the front-end forearm housing 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; 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 mesh 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 tooth shaft that mesh with each other; the J5 transmission shaft gear is connected to the five-axis connecting shaft gear through the tooth shaft; the five-axis third-stage reduction mechanism includes a J5 hypoid driving gear and a J5 hypoid driven gear that mesh with each other; the J5 hypoid driving gear is coaxially arranged and fixedly connected to the J5 transmission shaft gear; The rear end face of the middle forearm housing is located in the rear-end forearm housing, and a five-axis motor mounting hole for mounting a five-axis motor is opened on this rear end face; a connecting shaft hole for mounting a tooth shaft is opened in the middle forearm housing, and a six-axis motor mounting hole for mounting a six-axis motor is opened on the front end face, wherein the connecting shaft hole penetrates the front end face.

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 has a four-axis motor mounting hole, a four-axis sub-housing mounting part, a three-axis mounting part for connecting to the outside, and a four-axis mounting part for connecting to the rear-end forearm housing; among them, the four-axis motor mounting hole and the four-axis sub-housing mounting part are both located below the four-axis mounting part. The four-axis motor is installed outside the four-axis main housing below 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 part, and the four-axis first bearing is arranged in the four-axis mounting part.

3. The robotic 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 mesh 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 hypoid drive gear and a J4 hypoid driven gear that mesh with each other, and the J4 spur gear and the J4 hypoid drive gear are an integral gear and 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 hypoid drive gear assembly mounting hole of the four-axis secondary housing; the J4 hypoid driven gear is fixed on the four-axis first bearing.

4. The robotic arm of the industrial robot according to claim 1, characterized in that, The lubricating oil passages among the five-axis first-stage reduction mechanism, the tooth shaft, and the six-axis first-stage reduction mechanism in the middle housing of the small arm are interconnected.

5. The robot arm of the industrial robot according to claim 1, characterized in that, The six-axis first-stage reduction mechanism includes a six-axis motor gear and a J6 drive 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 drive gear and a J6 hypoid driven gear that mesh with each other; the J6 hypoid driven gear and the J5 hypoid driven gear are coaxial. The J6 hypoid drive gear is coaxially arranged and fixedly connected with the J6 drive shaft gear; the six-axis third-stage reduction mechanism includes a J62 bevel drive gear and a J62 bevel driven gear that mesh with each other; and the J6 hypoid driven gear is fixed on the spline of the J62 bevel drive gear.

6. The robotic arm of the industrial robot according to claim 5, characterized in that, The axes of the three-axis, four-axis, five-axis, and six-axis of the robot arm are perpendicular to each other for adjacent two axes; the three-axis center is the center of the three-axis mounting part on the four-axis main housing, the four-axis center is the axis of the J4 hypoid driven gear of the four-axis second-stage reduction mechanism, the five-axis center is the coaxial axis of the J6 hypoid driven gear and the J5 hypoid driven gear, and the six-axis center is the axis of the J62 bevel driven gear.

7. The robot arm of the industrial robot according to claim 1, characterized in that, The front-end housing of the small arm is provided with a bearing inner hole, and a six-axis first bearing is installed in the bearing inner hole. A round gasket, an adjusting gasket, a J5 hypoid driven gear, and a J6 hypoid driven gear are installed on the six-axis first bearing; a six-axis second bearing is arranged in the wrist housing, and the J62 bevel driven gear is connected to the six-axis second bearing and fixed inside the wrist housing.

8. The installation method of the robot arm of the industrial robot according to claim 3, characterized in that, It includes the following steps: 1) Install the four-axis first bearing on the four-axis mounting part, install the J4 hypoid driven gear on the four-axis first bearing, install the four-axis second bearing at the rear end of the J4 hypoid drive gear, install the four-axis sleeve, press in the four-axis second bearing and lock it; install the J4 motor gear on the four-axis motor rotating shaft, and install the J4 hypoid drive gear assembly and the four-axis motor assembly into the J4 hypoid drive gear assembly mounting hole and the four-axis motor mounting hole of the four-axis secondary housing respectively; combine the four-axis secondary housing and the four-axis main housing and lock them with bolts. 2) Place the five-axis first-stage reduction mechanism into the five-axis motor mounting hole from the rear end of the middle housing of the small arm, place the tooth shaft into the connecting shaft hole from the front end of the middle housing of the small arm and assemble it with the five-axis first-stage reduction mechanism; place the six-axis first-stage reduction mechanism into the six-axis motor mounting hole from the front end of the middle housing of the small arm. 3) Connect the front-end housing of the forearm to the wrist housing through the five-axis first bearing; 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; verify and adjust each transmission component with a meshing transmission relationship to ensure mutual meshing; 4) Assemble the middle housing of the forearm with the front-end housing of the forearm, and then connect the rear-end housing of the forearm to form the forearm housing. Finally, the forearm housing is assembled with the four-axis housing through the four-axis first bearing; thus, the installation of the robotic arm of the industrial robot is completed.

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