Modularized industrial robot wrist transmission mechanism and robot

Abstract

The utility model discloses a modularized industrial robot wrist transmission mechanism and a robot, the transmission mechanism comprises a wrist body, the wrist body is connected with a support assembly on a forearm through a first bearing; a second speed reducer with a second synchronizing wheel is used for inputting power to drive the wrist body to rotate along an axis perpendicular to the axis of the small arm; the wrist further comprises a sixth shaft power input module detachably installed on the wrist body. A first speed reducer is arranged in the wrist body, and an input shaft of the first speed reducer and the small arm are coaxially arranged. The wrist transmission mechanism is divided into the wrist assembly and the sixth-shaft power input module, the sixth-shaft power input module can be assembled in advance and then integrally installed in the wrist assembly, and assembly, disassembly and maintenance are facilitated.

Description

Technical Field

[0001] The utility model relates to a robot wrist transmission mechanism and the robot. Background Art

[0002] The wrist transmission component of the robot is used to connect the robot arm and the end effector. It is located at the end of the robot joint and has a similar function to the human wrist. It is used to adjust or change the posture of the end so that the robot end effector can meet specific action requirements. Therefore, the wrist should have independent degrees of freedom. Since the internal transmission accuracy of the wrist affects the accuracy and stability of the entire robot, the transmission structure should be designed to be simple and compact while meeting the structural strength and use requirements, and the volume and weight of the wrist shape and internal structure should be reduced to improve its positioning accuracy.

[0003] The existing robot wrist transmission mechanism adopts the form of single assembly of parts, and the degree of coupling between the parts is high. It is very inconvenient to disassemble and assemble when repairing and replacing parts, which reduces production efficiency. Utility Model Content

[0004] In view of this, the utility model provides a modular industrial robot wrist transmission mechanism, which makes the entire wrist transmission mechanism easy to disassemble and assemble, and can be quickly repaired and replaced through modular design.

[0005] In order to solve the above technical problems, the technical solution of the utility model is to adopt a modular industrial robot wrist transmission mechanism, including a wrist body, which is connected to the support assembly on the forearm by a first bearing, and uses a second reducer with a second synchronous wheel to input power to drive the wrist body to rotate along an axis perpendicular to the axis of the forearm; it also includes a sixth-axis power input module detachably mounted on the wrist body; the sixth-axis power input module includes a transmission shaft perpendicular to the axis of the forearm, one end of the transmission shaft is provided with a first synchronous wheel for power input, and the other end is provided with a first bevel gear for power output; it also includes a bearing sleeve, the bearing sleeve is arranged outside the transmission shaft by a second bearing sleeve, and is fixed to the wrist body; a first reducer is arranged in the wrist body, the input shaft of the first reducer is coaxially arranged with the forearm, and the input shaft of the first reducer is provided with a second bevel gear meshing with the first bevel gear.

[0006] As an improvement, a spring seat is arranged in the bearing sleeve, and a wave spring is arranged between the spring seat and the second bearing for pre-tightening the transmission shaft toward the second bevel gear.

[0007] As a further improvement, a mounting seat is provided on the wrist body, and a flange matched with the mounting seat is provided on the bearing sleeve; a sealing ring is provided on the contact surface between the bearing sleeve and the mounting seat.

[0008] As another further improvement, a first skeleton oil seal is provided on the contact surface between the wrist body and the support assembly.

[0009] As an improvement, a second skeleton oil seal is provided between the bearing sleeve and the transmission shaft.

[0010] As an improvement, it also includes a forearm side cover arranged on the side, and the forearm side cover is fixed to the support assembly by bolts.

[0011] As an improvement, the number of the second bearings is two and they are arranged front and back along the axial direction of the transmission shaft.

[0012] As an improvement, the first reducer and the second reducer are both harmonic reducers.

[0013] The present invention also provides an industrial robot, comprising the above modular industrial robot wrist transmission mechanism.

[0014] The utility model is beneficial in that:

[0015] In the utility model, the wrist transmission mechanism is divided into a wrist assembly and a sixth-axis power input module. The sixth-axis power input module can be assembled first and then installed in the wrist as a whole, which is convenient for assembly, disassembly and maintenance.

[0016] The second bevel gear is connected to the first reducer and fixed by screws. The second reducer and the bearing sleeve are on the same axis, which is the fifth axis (joint) of the robot. In order to ensure the stability of joint rotation and the sealing performance of the inner cavity of the wrist, a skeleton oil seal and the first bearing are also installed at the other end of the wrist. The synchronous wheel is used to drive the second harmonic reducer to rotate, thereby driving the rotation of the robot's five-axis joint.

[0017] In order to make the forearm and wrist smaller and more compact, as well as easy to install and seal, the forearm adopts a left and right split structure design, which also includes a forearm support plate and a forearm side cover. The wrist assembly is installed to the forearm, the first harmonic reducer is locked and fixed with screws, and then the forearm support plate is installed on the forearm. A support sleeve structure is provided on the end face of the forearm support plate, which is installed in coordination with the first bearing and the first skeleton oil seal, as well as the forearm side covers installed on the two end faces of the forearm and the forearm support plate, to form a rotating support and sealing structure for the wrist, so as to improve the rotational stability of the five-axis of the robot, reduce the bending moment of the harmonic reducer, and increase the service life of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] Markings in the figure: 1-forearm, 2-wrist body, 3-support assembly, 4-forearm side cover, 5-first skeleton oil seal, 6-first bearing, 7-bearing sleeve, 8-first synchronous wheel, 9-first bolt, 10-transmission shaft, 11-second skeleton oil seal, 12-second bearing, 13-wave spring, 14-second bolt, 15-first reducer, 16-first bevel gear, 17-third bolt, 18-second reducer, 19-fourth bolt, 20-second synchronous wheel, 21-fifth bolt, 22-third bearing, 23-second bevel gear. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0021] like Figure 1 As shown, the utility model provides a modular industrial robot wrist transmission mechanism, including a wrist body 2, wherein the wrist body 2 is connected to the support assembly 3 on the forearm 1 by means of a first bearing 6, and a second reducer 18 with a second synchronous wheel 20 is used to input power to drive the wrist body 2 to rotate along an axis perpendicular to the axis of the forearm 1; it also includes a sixth-axis power input module detachably mounted on the wrist body 2; the sixth-axis power input module includes a transmission shaft 10 perpendicular to the axis of the forearm, one end of the transmission shaft 10 is provided with a first synchronous wheel 8 for power input, and the other end is provided with a first bevel gear 16 for power output; it also includes a bearing sleeve 7, the bearing sleeve 7 is sleeved on the outside of the transmission shaft 10 by means of a second bearing 12, and is fixed to the wrist body 1, and the fixing method can be bolt fixing; a first reducer 15 is arranged in the wrist body 2, the input shaft of the first reducer 15 is coaxially arranged with the forearm 1, and the input shaft of the first reducer 15 is provided with a second bevel gear 23 meshing with the first bevel gear 16.

[0022] Specifically, the first synchronous wheel 8 is fixed to the end of the transmission shaft 10 by the first bolt 9, and the first bevel gear 16 is fixed to the other end of the transmission shaft 10 by the third bolt 17. The input shaft of the first reducer 15 is fixed to the second bevel gear 23 by the fifth bolt 21, and the first reducer 15 is connected to the wrist body 2 by the second bolt 14. The second synchronous wheel 20 is connected to the input shaft of the second reducer 18 by the fourth bolt 19.

[0023] In the utility model, the entire wrist transmission mechanism is divided into a wrist assembly and a sixth axis input module. The wrist assembly includes a wrist body 2, a second reducer 18, a second synchronous wheel 20, a second bevel gear 23, a first reducer 15, etc., which are assembled first and then assembled with the first bearing 6 and the support assembly 3 of the forearm 1. The sixth axis power input module includes a first synchronous wheel 8, a transmission shaft 10, a first bevel gear 16, a bearing sleeve 7, etc., which can also be assembled first and then assembled with the wrist assembly. Such a modular design makes it more convenient to disassemble during maintenance and replacement.

[0024] Since the first bevel gear 16 and the second bevel gear 23 are meshed when the sixth-axis power input module is assembled, in order to ensure the close meshing of the two, a spring seat is provided in the bearing sleeve 7, and a wave spring 13 is provided between the spring seat and the second bearing 12 for pre-tightening the transmission shaft 10 toward the second bevel gear 23. In addition, in order to balance the force, the second bearing 12 is arranged front and back along the axial direction of the transmission shaft 10, and the wave spring 13 is provided at the second bearing 12 close to the first bevel gear 16.

[0025] In order to improve the sealing performance of the entire transmission mechanism, a mounting seat is provided on the wrist body 2, and a flange is provided on the bearing sleeve 7 to cooperate with the mounting seat, and the flange is connected to the mounting seat by bolts; a sealing ring is provided on the contact surface between the bearing sleeve 7 and the mounting seat. A first skeleton oil seal 5 is provided on the contact surface between the wrist body 2 and the support assembly. A second skeleton oil seal 11 is provided between the bearing sleeve 7 and the transmission shaft 10. Thus, multiple sealing surfaces are formed between the components to prevent dust and other foreign matter from entering.

[0026] The utility model also includes a forearm side cover 4 arranged at the side, and the forearm side cover 4 is fixed to the support assembly 3 by bolts, and the internal parts are shielded by the forearm side cover 4.

[0027] In this embodiment, the first reducer 15 and the second reducer 18 are both harmonic reducers. Harmonic reducers use harmonic drive technology to convert a high-speed rotating transmission shaft into a low-speed rotating output shaft through a high-speed rotating flexible gear cylinder. It has the advantages of high precision, compact structure, strong load capacity and high efficiency, and is widely used in various mechanical equipment and industrial automation fields.

[0028] The assembly steps of the utility model are as follows:

[0029] Install the wave spring 13 in the spring seat of the bearing sleeve 7, and install the two second bearings 12 into the inner holes at both ends of the bearing sleeve 7 respectively. The wave spring 13 is flush with the outer ring end surface of the second bearing 12. The transmission shaft 10 passes through the center of the second bearing 12 and limits the axial movement through the flange. The first bevel gear 16 is installed on the right side of the transmission shaft 13 and locked with multiple third screws 17. Use tools to install the second skeleton oil seal 11 into the left hole of the bearing sleeve 13, and the first synchronous wheel 8 is installed at the left end of the transmission shaft 10. After assembling this part of the parts into the input gear assembly, it is necessary to check whether the first synchronous wheel 8 rotates smoothly before proceeding to the next step.

[0030] Install the first bearing 6 and the first skeleton oil seal 5 into the holes of the wrist body 2 in sequence, install the third bearing 22 on the shaft of the second bevel gear 23, fix the second bevel gear 23 to the input shaft of the first reducer 15 with multiple fifth screws 21, install the first reducer 15 into the lower mounting hole of the wrist body 2, and lock and fix it with multiple second screws 14.

[0031] Install the second reducer 18 to the right side of the wrist body 2. During the assembly process, it is also necessary to check whether the sealing ring on the end face of the harmonic reducer is in the sealing groove to ensure that the sealing performance at this position is not affected. At the same time, add the specified grease to the cavity of the harmonic reducer, rotate the wave generator, and check whether the rotation is smooth.

[0032] After assembling the above components, the sixth axis input module consisting of the bearing sleeve 7, the first bevel gear 16, the transmission shaft 10, the first synchronous wheel 8 and other parts can be assembled to the left side of the wrist as a whole, so that the first bevel gear 16 and the second bevel gear 23 are installed and meshed. The end face of the bearing sleeve 7 is provided with a sealing ring, and the bearing sleeve 7 is fixed to the left center hole of the wrist body 2 with multiple screws. When assembling this step, it is necessary to rotate the first synchronous wheel 8 to check the gear meshing condition. If there is any abnormality in the rotation, it needs to be checked and processed.

[0033] The end face of the second reducer 18 is facing the right side of the forearm 1 and installed on the mounting surface of the forearm 1. The mounting contact surface is sealed by a sealing ring. During installation, it is necessary to check whether the sealing ring is installed in place. It is also necessary to rotate the wrist structure to check whether the second harmonic reducer on the wrist rotates smoothly.

[0034] Install the forearm support plate 3 to the left end face of the forearm 1, and at the same time, the support sleeve structure on the forearm support assembly 3 is assembled and embedded in the first bearing 6 to support and position the wrist assembly. At this time, the wrist assembly can be rotated to check whether the five-axis joint rotates smoothly before proceeding to the next step.

[0035] According to the above steps, the second synchronous wheel 20 is installed on the input shaft of the second reducer 18 and is locked and fixed with a plurality of fourth screws. At this time, the wrist body 2 and the forearm 1 and other parts have been assembled, and the two forearm side covers 4 are respectively installed on the left and right sides of the forearm 1 and locked with screws. A sealing groove is provided on the mounting surface of the forearm side cover 4, and a sealant needs to be pre-applied to seal the forearm 1.

[0036] In addition, the present invention also provides an industrial robot, comprising the above-mentioned modular industrial robot wrist transmission mechanism.

[0037] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A modular industrial robot wrist transmission mechanism, characterized in that: It includes a wrist body, which is connected to the support assembly on the forearm by means of a first bearing, and uses a second reducer with a second synchronous wheel to input power to drive the wrist body to rotate along an axis perpendicular to the axis of the forearm; it also includes a sixth-axis power input module detachably mounted on the wrist body; the sixth-axis power input module includes a transmission shaft perpendicular to the axis of the forearm, one end of the transmission shaft is provided with a first synchronous wheel for power input, and the other end is provided with a first bevel gear for power output; it also includes a bearing sleeve, which is arranged outside the transmission shaft by means of a second bearing sleeve and fixed to the wrist body; a first reducer is arranged in the wrist body, the input shaft of the first reducer is arranged coaxially with the forearm, and the input shaft of the first reducer is provided with a second bevel gear meshing with the first bevel gear.

2. A modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: A spring seat is arranged in the bearing sleeve, and a wave spring for pre-tightening the transmission shaft toward the second bevel gear is arranged between the spring seat and the second bearing.

3. A modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: The wrist body is provided with a mounting seat, the bearing sleeve is provided with a flange which is matched and connected with the mounting seat; and a sealing ring is provided on the contact surface between the bearing sleeve and the mounting seat.

4. The modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: The contact surface between the wrist body and the support assembly is provided with a first skeleton oil seal.

5. The modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: A second skeleton oil seal is arranged between the bearing sleeve and the transmission shaft.

6. The modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: It also includes a forearm side cover arranged on the side, and the forearm side cover is fixed to the support assembly by bolts.

7. The modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: The second bearings are two arranged front and back along the axial direction of the transmission shaft.

8. The modular industrial robot wrist transmission mechanism according to claim 1, characterized in that: The first reducer and the second reducer are both harmonic reducers.

9. An industrial robot, characterized in that: The modular industrial robot wrist transmission mechanism comprises any one of claims 1 to 8.

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