Heavy-load tail end transmission structure

Abstract

The invention relates to a heavy-load tail end transmission structure. The heavy load tail end transmission structure comprises a shell, a transmission mechanism, a driving mechanism and a speed reducer, the transmission mechanism is installed in the shell, the driving mechanism is installed on one side of the shell and is in transmission connection with the transmission mechanism, the speed reducer is installed on the other side of the shell, and the speed reducer is in transmission connection with the driving mechanism. And the motor is in transmission connection with the transmission mechanism. According to the heavy load tail end transmission structure, the speed reducer is designed to be arranged in front, so that the speed reducer is closer to the five-axis assembly and the six-axis assembly, and the distance between the five-axis assembly and the six-axis assembly is reduced; meanwhile, by means of the innovative transmission mechanism design, motors are placed at the ends, close to the base, of the four shafts in a centralized mode, and therefore the weight of equipment at the far end is reduced, the rotational inertia and the bending torque at the far end are reduced, the load of the device on a speed reducer is reduced, the dynamic performance and the precision in the high-load state are effectively improved, and the service life of the equipment is prolonged.

Description

Technical Field

[0001] The invention relates to the field of industrial robots, and in particular to a heavy-load terminal transmission structure. Background Art

[0002] The six-axis industrial robot is a type of robot equipment widely used in the industrial field. It can be used to complete various tasks due to its six-axis degrees of freedom, such as simple high-load palletizing and fine low-load welding. The wrist of the six-axis robot, that is, the fourth, fifth and sixth axes, is mainly used for fine operations at the end, and can achieve arbitrary posture positioning of the end. In the prior art, the reducer of the fourth axis usually adopts a post-mounted design, that is, it is set at one end of the fourth axis close to the robot base, which makes the components of the fifth and sixth axes away from the fourth axis reducer, thereby increasing the moment of inertia and bending arm, which will lead to a decrease in dynamic performance and accuracy after the robot runs at full load for a long time. Summary of the invention

[0003] Based on this, an object of the present invention is to provide a heavy-load terminal transmission structure.

[0004] A heavy-load terminal transmission structure comprises a shell, a transmission mechanism, a driving mechanism and a reducer, the transmission mechanism is installed inside the shell, the driving mechanism is installed on one side of the shell and is transmission-connected to the transmission mechanism, and the reducer is installed on the other side of the shell and is transmission-connected to the transmission mechanism; the transmission mechanism comprises a support shaft, a first transmission shaft, a second transmission shaft and a third transmission shaft, one end of the support shaft is fixedly connected to the reducer, the first transmission shaft is rotatably embedded in the support shaft, one end is transmission-connected to the driving mechanism, and the other end is transmission-connected to the input end of the reducer; the second transmission shaft is rotatably embedded in the first transmission shaft, one end is transmission-connected to the driving mechanism; the third transmission shaft is rotatably embedded in the second transmission shaft, one end is transmission-connected to the driving mechanism; a through hole is opened in the middle of the reducer for allowing the second transmission shaft and the third transmission shaft to pass through the through hole through the reducer.

[0005] The heavy-load terminal transmission structure described in the present invention places the reducer in front of the assembly, so that the reducer is closer to the five-axis assembly and the six-axis assembly, thereby reducing the distance between them; at the same time, the motor is concentrated on one end of the four-axis close to the base through an innovative transmission mechanism design, thereby reducing the weight of the equipment at the far end, thereby reducing the moment of inertia and bending torque at the far end, reducing the load of the device on the reducer, effectively improving the dynamic performance and accuracy under high load conditions, and increasing the service life of the equipment.

[0006] Further, the transmission mechanism further includes a first bearing, which is installed between the support shaft and the first transmission shaft and is located at the end of the support shaft away from the speed reducer.

[0007] Further, the transmission mechanism further includes a second bearing. The number of the second bearings is two, and they are installed between the first transmission shaft and the second transmission shaft and are respectively located at both ends of the first transmission shaft.

[0008] Further, the transmission mechanism further includes a third bearing. The number of the third bearings is two, and they are installed between the second transmission shaft and the third transmission shaft and are respectively located at both ends of the second transmission shaft.

[0009] Further, the transmission mechanism further includes a first driven gear disk, which is fixedly connected to the end of the first transmission shaft close to the driving mechanism and is in transmission connection with the driving mechanism.

[0010] Further, the transmission mechanism further includes a second driven gear disk, which is fixedly connected to the end of the second transmission shaft close to the driving mechanism and is in transmission connection with the driving mechanism.

[0011] Further, the transmission mechanism further includes a third driven gear disk, which is fixedly connected to the end of the third transmission shaft close to the driving mechanism and is in transmission connection with the driving mechanism.

[0012] Further, the transmission mechanism further includes a skeleton oil seal, which is respectively installed at both ends between the first transmission shaft and the second transmission shaft, and at both ends between the second transmission shaft and the third transmission shaft.

[0013] Further, the driving mechanism includes a first motor, a second motor and a third motor. The first motor is in transmission connection with the first driven gear disk, the second motor is in transmission connection with the second driven gear disk, and the third motor is in transmission connection with the third driven gear disk.

[0014] Further, it further includes a five-axis assembly and a six-axis assembly. The five-axis assembly is installed at the output end of the speed reducer and is in transmission connection with the second transmission shaft; the six-axis assembly is rotatably installed on the five-axis assembly and is in transmission connection with the third transmission shaft.

[0015] For better understanding and implementation, the present invention will be described in detail below with reference to the accompanying drawings. Description of the Drawings

[0016] Figure 1 Schematic diagram of the heavy-load end transmission structure;

[0017] Figure 2 Schematic diagram of the decomposition of the heavy-load end drive structure;

[0018] Figure 3 Cross-sectional view of the heavy-load end drive structure;

[0019] Figure 4 Schematic diagram of the five-axis and six-axis components. Specific implementation manner

[0020] Please refer to Figure 1 and 2 , a heavy-load end drive structure, including a housing 10, a transmission mechanism 20, a driving mechanism 30 and a speed reducer 40. The transmission mechanism 20 is installed in the housing 10. The driving mechanism 30 is installed on one side of the housing 10 and is in transmission connection with the transmission mechanism 20. The speed reducer 40 is installed on the other side of the housing 10 and is in transmission connection with the transmission mechanism 20.

[0021] Please refer to Figure 3 , the transmission mechanism 20 includes a support shaft 201, a first transmission shaft 202, a second transmission shaft 205 and a third transmission shaft 208. The inside of the support shaft 201 is a hollow structure. One end close to the speed reducer 40 is fixedly connected to the housing of the speed reducer 40, so that the support shaft 201 is fixed relative to the housing 10 and the speed reducer 40 and provides a supporting function for other transmission shafts.

[0022] The first transmission shaft 202 is rotatably embedded in the support shaft 201, and the inside of the first transmission shaft 202 is a hollow structure. Its length is greater than that of the support shaft 201, so that both ends thereof extend out of the support shaft 201. One end of the first transmission shaft 202 close to the driving mechanism 30 is in transmission connection with the driving mechanism 30; one end of the first transmission shaft 202 close to the speed reducer 40 is in transmission connection with the input end of the speed reducer 40. The driving mechanism 30 drives it to rotate in the support shaft 201 and further drives the speed reducer 40 to work.

[0023] In some embodiments, the transmission mechanism further includes a first driven gear disk 203. The first driven gear disk 203 is installed at one end of the first transmission shaft 202 close to the driving mechanism 30 and is used for the transmission connection between the first transmission shaft 202 and the driving mechanism 30. By providing the first driven gear disk 203, the meshing between the first transmission shaft 202 and the driving mechanism 30 can be enhanced, and the transmission accuracy can be improved; at the same time, different transmission ratios can be obtained by replacing the first driven gear disk 203 with different numbers of teeth, thereby adapting to more working conditions.

[0024] In some embodiments, the transmission mechanism further includes a first bearing 204. The first bearing 204 is installed between the support shaft 201 and the first transmission shaft 202, and is located at one end of the support shaft 201 away from the speed reducer 40, and is used to support the rotation of the first transmission shaft 202 in the support shaft 201. Preferably, the first bearing 204 is a deep groove ball bearing.

[0025] The second transmission shaft 205 is rotatably inserted into the first transmission shaft 202, and the inside of the second transmission shaft 205 is a hollow structure, and its length is greater than the length of the first transmission shaft 202, so that both ends thereof extend out of the first transmission shaft 202. One end of the second transmission shaft 205 close to the driving mechanism is in transmission connection with the driving mechanism 30, and is driven to rotate in the first transmission shaft 202 by the driving mechanism 30.

[0026] In some embodiments, the transmission mechanism further includes a second driven gear disc 206. The second driven gear disc 206 is installed at one end of the second transmission shaft 205 close to the driving mechanism 30, and is used for the transmission connection between the second transmission shaft 205 and the driving mechanism 30. By providing the second driven gear disc 206, the meshing between the second transmission shaft 205 and the driving mechanism 30 can be enhanced, and the transmission accuracy can be improved; at the same time, different transmission ratios can be obtained by replacing the second driven gear discs 206 with different numbers of teeth, so as to adapt to more working conditions.

[0027] In some embodiments, the transmission mechanism further includes a second bearing 206. The number of the second bearings 206 is two, and they are installed between the first transmission shaft 202 and the second transmission shaft 205, and are respectively located at both ends of the first transmission shaft 202, and are used to support the rotation of the second transmission shaft 205 in the first transmission shaft 202. Preferably, the second bearing 207 is an angular contact ball bearing.

[0028] The third transmission shaft 208 is rotatably inserted into the second transmission shaft 205, and its length is greater than the length of the second transmission shaft 205, so that both ends thereof extend out of the second transmission shaft 205. One end of the third transmission shaft 208 close to the driving mechanism 30 is in transmission connection with the driving mechanism 30, and is driven to rotate in the second transmission shaft 205 by the driving mechanism 30.

[0029] In some embodiments, the transmission mechanism further includes a third driven gear disk 209. The third driven gear disk 209 is installed at one end of the third transmission shaft 208 close to the drive mechanism 30 for driving the transmission connection between the third transmission shaft 208 and the drive mechanism 30. By providing the third driven gear disk 209, the meshing between the third transmission shaft 208 and the drive mechanism 30 can be enhanced, improving the transmission accuracy; meanwhile, different transmission ratios can be obtained by replacing the third driven gear disk 209 with different numbers of teeth, thereby adapting to more working conditions.

[0030] In some embodiments, the transmission mechanism further includes two third bearings 210. The third bearings 210 are installed between the second transmission shaft 205 and the third transmission shaft 208 and are respectively located at both ends of the second transmission shaft 205 for supporting the rotation of the third transmission shaft 208 in the second transmission shaft 205. Preferably, the third bearings 210 are tapered roller bearings.

[0031] In some embodiments, the transmission mechanism further includes four skeleton oil seals 211. The four skeleton oil seals 211 are respectively installed at both ends between the first transmission shaft 202 and the second transmission shaft 205 and at both ends between the second transmission shaft 205 and the third transmission shaft 208 for sealing the lubricating oil between the transmission shafts and improving the service life.

[0032] The drive mechanism 30 includes a first motor 301, a second motor 302, and a third motor 303. The first motor 301 is in transmission connection with the first driven gear disk 203 for driving the rotation of the first transmission shaft 202; the second motor 302 is in transmission connection with the second driven gear disk 206 for driving the rotation of the second transmission shaft 205; the third motor 303 is in transmission connection with the third driven gear disk 209 for driving the rotation of the third transmission shaft 208. There are no special requirements for the installation positions of the first motor 301, the second motor 302, and the third motor 303, as long as they can be respectively in transmission connection with the first driven gear disk 203, the second driven gear disk 206, and the third driven gear disk 209. In this embodiment, the first motor 301, the second motor 302, and the third motor 303 are installed parallel to each other on one side of the housing 10 and are also parallel to the transmission mechanism 20, thereby minimizing the occupied space and improving the compactness of the overall structure.

[0033] A through hole is formed in the middle of the speed reducer 40, and the second transmission shaft 205 and the third transmission shaft 208 pass through the speed reducer 40 from the through hole for driving the transmission connection with the components installed on the other side of the speed reducer 40.

[0034] Please refer to Figure 4, in some embodiments, it further includes a five-axis component 50 and a six-axis component 60. The five-axis component 50 is installed at the output end of the speed reducer 40 and is in transmission connection with the second transmission shaft 205; the six-axis component 60 is installed on the five-axis component 50 and is in transmission connection with the third transmission shaft 208. The first motor 301 drives the first transmission shaft 202 to drive the speed reducer 40 to rotate, and drives the five-axis component 50 and the six-axis component 60 to rotate together; the second transmission shaft 205 drives the five-axis component 50 to drive the six-axis component 60 to rotate; the third transmission shaft 208 drives the six-axis component 60 to rotate its end.

[0035] Compared with the prior art, in this application, by pre-designing the speed reducer, the speed reducer is closer to the five-axis component and the six-axis component, thereby reducing the distance between them; at the same time, through the innovative design of the transmission mechanism, the motors are centrally placed at one end of the four-axis close to the base, thereby reducing the equipment weight at the far end, thus reducing the moment of inertia and bending torque at the far end, reducing the load of the device on the speed reducer, effectively improving the dynamic performance and accuracy under high load conditions, and improving the service life of the equipment. Moreover, the overall structure of this application is rigidly connected through gears, etc., avoiding the transmission errors caused by flexible couplings or universal joints, etc., and effectively improving the transmission accuracy at the end.

[0036] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of this application. The singular forms "a", "the" and "said" used in the embodiments of this application and the claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that unless otherwise stated, "a plurality" means two or more; the terms "first", "second", "third", etc. are only used for distinction and not for describing a specific order or sequence, nor can they be understood as indicating or implying relative importance. The term "and / or" used herein means and includes any or all possible combinations of one or more of the associated listed items. When the above description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of this application, for those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] The above-described 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 invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and the present invention also intends to include these modifications and improvements.

Claims

1. A heavy-load end drive structure, characterized in that: It includes a housing, a transmission mechanism, a driving mechanism and a speed reducer. The transmission mechanism is installed inside the housing. The driving mechanism is installed on one side of the housing and is in transmission connection with the transmission mechanism. The speed reducer is installed on the other side of the housing and is in transmission connection with the transmission mechanism. The transmission mechanism includes a support shaft, a first transmission shaft, a second transmission shaft and a third transmission shaft. One end of the support shaft is fixedly connected to the speed reducer. The first transmission shaft is rotatably embedded in the support shaft, with one end in transmission connection with the driving mechanism and the other end in transmission connection with the input end of the speed reducer. The second transmission shaft is rotatably embedded in the first transmission shaft, with one end in transmission connection with the driving mechanism. The third transmission shaft is rotatably embedded in the second transmission shaft, with one end in transmission connection with the driving mechanism. A through hole is formed in the middle of the speed reducer for the second transmission shaft and the third transmission shaft to pass through the speed reducer through the through hole.

2. The heavy-load end drive structure according to claim 1, characterized in that: The transmission mechanism further includes a first bearing. The first bearing is installed between the support shaft and the first transmission shaft and is located at the end of the support shaft away from the speed reducer.

3. The heavy-load end drive structure according to claim 2, wherein: The transmission mechanism further includes a second bearing. The number of the second bearings is two. They are installed between the first transmission shaft and the second transmission shaft and are respectively located at both ends of the first transmission shaft.

4. The heavy-load end drive structure according to claim 3, characterized in that: The transmission mechanism further includes a third bearing. The number of the third bearings is two. They are installed between the second transmission shaft and the third transmission shaft and are respectively located at both ends of the second transmission shaft.

5. The heavy-load end drive structure according to claim 4, wherein: The transmission mechanism further includes a first driven gear disc. The first driven gear disc is fixedly connected to the end of the first transmission shaft close to the driving mechanism and is in transmission connection with the driving mechanism.

6. The heavy-load end drive structure according to claim 5, wherein: The transmission mechanism further includes a second driven gear disc. The second driven gear disc is fixedly connected to the end of the second transmission shaft close to the driving mechanism and is in transmission connection with the driving mechanism.

7. The heavy-duty end drive structure according to claim 6, wherein: The transmission mechanism further includes a third driven gear disc. The third driven gear disc is fixedly connected to the end of the third transmission shaft close to the driving mechanism and is in transmission connection with the driving mechanism.

8. The heavy-load end drive structure according to claim 7, characterized in that: The transmission mechanism further includes a skeleton oil seal. The skeleton oil seals are respectively installed at both ends between the first transmission shaft and the second transmission shaft, and at both ends between the second transmission shaft and the third transmission shaft.

9. The heavy-duty end drive structure according to claim 8, wherein: The driving mechanism includes a first motor, a second motor and a third motor. The first motor is in transmission connection with the first driven gear disc. The second motor is in transmission connection with the second driven gear disc. The third motor is in transmission connection with the third driven gear disc.

10. The heavy-load end drive structure according to claim 9, characterized in that: It further includes a five-axis assembly and a six-axis assembly. The five-axis assembly is installed at the output end of the speed reducer and is in transmission connection with the second transmission shaft. The six-axis assembly is rotatably installed on the five-axis assembly and is in transmission connection with the third transmission shaft.

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