Hollow robot wrist based on hypoid gear

Abstract

The utility model relates to the field of robot wrists, in particular to a hollow robot wrist based on hypoid gears, which comprises an external shell and an internal transmission system. Specifically, the shell comprises a six-axis shell, a six-axis support, a wrist body connected with the six-axis support through a six-axis first screw, a five-axis support connected with the wrist body through a five-axis first screw, and a five-axis third gear connected with the six-axis shell through a five-axis second screw. The transmission system comprises a five-axis transmission system and a six-axis transmission system, through accurate calculation and selection of gaskets, the clearance between bearings is successfully eliminated, the stability and the accuracy of the transmission system are improved, the structure of the transmission system is simplified by using a quasi-double-gear transmission scheme, the number of parts and the assembly complexity are reduced, and the cost is reduced. And the system failure rate is reduced.

Description

Technical Field

[0001] The utility model relates to the field of robot wrists, in particular to a hollow robot wrist based on a hypoid gear. Background Art

[0002] At present, the wrist transmission system of industrial robots usually adopts the reducer drive mode. The reducer drive system has a complex structure, which increases the risk of system failure; multiple parts need to be regularly maintained and replaced, and the maintenance cost is high; there will be energy loss in the transmission process, resulting in reduced efficiency, especially under high load and long-term operation; the gear transmission in the reducer system generates vibration and noise, which may affect the accuracy and stability of the robot. The quasi-double gear transmission system has fewer parts, simple structure, high transmission efficiency, high transmission accuracy and stability, and can reduce noise and vibration. As a new technology to replace the reducer drive mode, the quasi-double gear transmission has many advantages, but there are also some disadvantages that need to be considered. The design of the quasi-double gear transmission system may be relatively complex, requiring more engineering design and debugging work, increasing the development cycle and cost. Summary of the invention

[0003] In order to solve the above problems, the utility model proposes a hollow robot wrist based on hypoid gears.

[0004] A hollow robot wrist based on a hypoid gear includes an external shell and an internal transmission system, specifically:

[0005] The housing includes a six-axis housing, a six-axis support, a wrist body connected to the six-axis support via a six-axis first screw, a five-axis support connected to the wrist body via a five-axis first screw, and a five-axis third gear connected to the six-axis housing via a five-axis second screw;

[0006] The transmission system includes a five-axis transmission system that enables the robot's arm to rotate on a horizontal plane and a six-axis transmission system that enables the robot's end effector to rotate on a vertical plane.

[0007] The five-axis transmission system is divided into five-axis I and five-axis II, and the five-axis I and five-axis II are divided according to the axes included in the five-axis transmission system.

[0008] The five-axis I axis includes a five-axis first gear, an axis of a five-axis second gear that is interference fit with the hole of the five-axis first gear, a five-axis sleeve installed between the hole of the five-axis first gear and the axis end of the five-axis second gear, a five-axis bearing seat installed on the axis of the five-axis second gear, a five-axis first bearing installed between the five-axis bearing seat and the wrist body, a five-axis second bearing, a five-axis third bearing and a five-axis fourth bearing.

[0009] The five-axis II axis includes a five-axis third gear connected to the six-axis housing through a five-axis second screw, a five-axis fifth bearing arranged between the five-axis support and the five-axis third gear, a five-axis sixth bearing arranged between the five-axis third gear, the five-axis support and the six-axis housing, a five-axis locking nut fixed on the five-axis support, a five-axis rotating lip seal ring and a five-axis oil seal ring installed between the five-axis support and the six-axis housing, and a five-axis gasket arranged between the five-axis fifth bearing and the five-axis support.

[0010] The six-axis transmission system is divided into six-axis I, six-axis II and six-axis III. The six-axis I, six-axis II and six-axis III are divided according to the axes included in the six-axis transmission system.

[0011] The six-axis I axis includes a six-axis first gear, an axis of a six-axis second gear that is interference fit with the hole of the six-axis first gear, a six-axis sleeve installed between the hole of the six-axis first gear and the shaft end of the six-axis second gear, a six-axis first bearing sleeve installed on the six-axis second gear shaft, a six-axis first bearing installed between the six-axis first bearing sleeve and the wrist body, a six-axis second bearing, a six-axis third bearing and a six-axis fourth bearing.

[0012] The six-axis II axis includes a six-axis third gear connected to the six-axis second gear through gear meshing, a six-axis fourth gear interference fit with the six-axis third gear, a six-axis fifth bearing arranged between the six-axis fourth gear and the six-axis support, a six-axis sixth bearing arranged between the six-axis third gear and the six-axis support, a six-axis seventh bearing arranged between the six-axis fourth gear and the six-axis housing, a six-axis first locking nut installed at the end of the six-axis fourth gear, a six-axis first shaft sleeve arranged between the six-axis third gear and the six-axis fourth gear, a bearing six-axis washer arranged between the six-axis first shaft sleeve and the six-axis seventh bearing, a six-axis first gasket and a six-axis second gasket used to respectively eliminate the bearing clearance between the six-axis sixth bearing and the six-axis support and the bearing clearance between the six-axis seventh bearing and the six-axis washer, a six-axis first rotating lip seal ring and a six-axis first oil seal ring installed between the wrist body and the six-axis housing.

[0013] The six-axis III shaft includes a six-axis output flange shaft, a six-axis fifth gear that is interference fit with the six-axis output flange shaft, a six-axis eighth bearing installed on the six-axis output flange shaft to offset the generated force, a six-axis ninth bearing, a six-axis tenth bearing, a six-axis eleventh bearing, a six-axis second bearing sleeve arranged between the six-axis eighth bearing and the six-axis output flange shaft, a six-axis second rotating lip seal ring installed between the six-axis output flange shaft and the six-axis housing, a six-axis second locking nut installed at the end of the six-axis output flange shaft, a six-axis second sealing cover installed at the end of the six-axis housing, and a six-axis third gasket installed between the six-axis tenth bearing and the six-axis housing.

[0014] The beneficial effects of the utility model are as follows: the utility model successfully eliminates the clearance between bearings through the precise calculation and selection of each gasket, improves the stability and accuracy of the transmission system, simplifies the structure of the transmission system by using a quasi-double gear transmission scheme, reduces the number of parts and assembly complexity, and reduces the system failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a schematic diagram of the planar structure of the robot wrist of the utility model;

[0017] Figure 2 The utility model Figure 1 A cross-sectional structural diagram of the robot wrist shown;

[0018] Figure 3 The utility model Figure 1 A schematic diagram of the cross-section structure of the robot wrist shown;

[0019] Figure 4 It is a diagram of the 6-axis III-axis transmission system of the robot wrist of the utility model;

[0020] Explanation of reference numerals: 1. wrist body; 2. six-axis support; 3. five-axis support; 4. six-axis housing; 5. six-axis first screw; 6. five-axis first screw; 11. five-axis first gear; 12. five-axis second gear; 13. five-axis sleeve; 14. five-axis bearing seat; 15. five-axis first bearing; 16. five-axis second bearing; 17. five-axis third bearing; 18. five-axis fourth bearing; 19. five-axis second screw; 21. five-axis third gear ; 22, fifth axis fifth bearing; 23, fifth axis sixth bearing; 24, fifth axis locking nut; 25, fifth axis second screw; 26, fifth axis rotating lip seal; 27, fifth axis oil seal ring; 28, fifth axis gasket; 31, sixth axis first gear; 32, sixth axis second gear; 33, sixth axis sleeve; 34, sixth axis first bearing sleeve; 35, sixth axis first bearing; 36, sixth axis second bearing; 37, sixth axis third bearing; 38, sixth axis first bearing The fourth bearing; 39, the second screw of the sixth axis; 41, the third gear of the sixth axis; 42, the fourth gear of the sixth axis; 43, the fifth bearing of the sixth axis; 44, the sixth bearing of the sixth axis; 45, the seventh bearing of the sixth axis; 46, the first locking nut of the sixth axis; 47, the first sleeve of the sixth axis; 48, the third screw of the sixth axis; 49, the washer of the sixth axis; 50, the first gasket of the sixth axis; 51, the second gasket of the sixth axis; 52, the first sealing cover of the sixth axis; 53, the first rotating lip seal ring of the sixth axis; 54, the first oil seal ring of the sixth axis; 61, the fifth gear of the sixth axis; 62, the sixth gear of the sixth axis; 63, the output flange shaft of the sixth axis; 64, the eighth bearing of the sixth axis; 65, the ninth bearing of the sixth axis; 66, the tenth bearing of the sixth axis; 67, the eleventh bearing of the sixth axis; 68, the second locking nut of the sixth axis; 69, the second bearing sleeve of the sixth axis; 70, the second rotating lip seal ring of the sixth axis; 71, the second sealing cover of the sixth axis; 72, the third gasket of the sixth axis. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0022] like Figures 1 to 4 As shown, a hollow robot wrist based on a hypoid gear includes an external shell and an internal transmission system, specifically:

[0023] The housing includes a six-axis housing 4, a six-axis support 2, a wrist body 1 connected to the six-axis support 2 via a six-axis first screw 5, a five-axis support 3 connected to the wrist body 1 via a five-axis first screw 6, and a five-axis third gear 21 connected to the six-axis housing 4 via a five-axis second screw 25;

[0024] The transmission system includes a five-axis transmission system that enables the robot's arm to rotate on a horizontal plane and a six-axis transmission system that enables the robot's end effector to rotate on a vertical plane.

[0025] The role of the five-axis drive system and the six-axis drive system is to provide the six-axis industrial robot with additional rotational degrees of freedom, enabling it to position and manipulate workpieces more flexibly in the horizontal and vertical directions.

[0026] The five-axis transmission system is divided into five-axis I and five-axis II. Five-axis I and five-axis II are divided according to the axes included in the five-axis transmission system. The five-axis transmission system robot can be more flexibly positioned in the horizontal direction, perpendicular to the fourth axis of the robot, so that the robot's arm can have a wider working range.

[0027] The five-axis I axis includes a five-axis first gear 11, an axis of a five-axis second gear 12 which is interference fit with the hole of the five-axis first gear 11, a five-axis sleeve 13 installed between the hole of the five-axis first gear 11 and the axis end of the five-axis second gear 12, a five-axis bearing seat 14 installed on the axis of the five-axis second gear 12, a five-axis first bearing 15 installed between the five-axis bearing seat 14 and the wrist body 1, a five-axis second bearing 16, a five-axis third bearing 17 and a five-axis fourth bearing 18.

[0028] The quasi-double gear transmission scheme using the five-axis first gear 11 and the five-axis second gear 12 simplifies the structure of the transmission system, reduces the number of parts and assembly complexity, and reduces the system failure rate.

[0029] Since the outer ring size of the five-axis first bearing 15 is too small to fit with the wrist body 1, a five-axis bearing seat 14 is added between the five-axis first bearing 15 and the wrist body 1, and the five-axis bearing seat 14 and the wrist body 1 are connected by a five-axis second screw 19.

[0030] Furthermore, a five-axis sleeve 13 is provided to reduce the gap between the five-axis first gear 11 and the five-axis second gear 12 , so as to achieve the purpose of strengthening the connection between the five-axis first gear 11 and the five-axis second gear 12 .

[0031] The five-axis II axis includes a five-axis third gear 21 connected to the six-axis housing 4 through a five-axis second screw 25, a five-axis fifth bearing 22 arranged between the five-axis support 3 and the five-axis third gear 21, a five-axis sixth bearing 23 arranged between the five-axis third gear 21, the five-axis support 3 and the six-axis housing 4, a five-axis locking nut 24 fixed on the five-axis support 3, a five-axis rotating lip seal ring 26 and a five-axis oil seal ring 27 installed between the five-axis support 3 and the six-axis housing 4, and a five-axis gasket 28 arranged between the five-axis fifth bearing 22 and the five-axis support 3.

[0032] Furthermore, the five-axis third gear 21 rotates itself to drive the six-axis housing 4 to move.

[0033] Furthermore, the fifth bearing 22 and the sixth bearing 23 of the fifth axis rotate along with the third gear 21 of the fifth axis, and offset the force generated by the second gear 12 and the third gear 21 of the fifth axis.

[0034] Furthermore, the five-axis locking nut 24 serves to fix the five-axis II axis.

[0035] Furthermore, the five-axis rotating lip seal ring 26 and the five-axis oil seal ring 27 play a role in preventing oil leakage.

[0036] Furthermore, the bearing clearance between the fifth bearing 22 of the five-axis and the five-axis support 3 is eliminated by the five-axis gasket 28 .

[0037] Through the precise calculation and selection of gaskets, the clearance between bearings was successfully eliminated, and the stability and accuracy of the transmission system were improved. The precise calculation and selection of gaskets effectively reduced the manufacturing cost, improved the production efficiency, and reduced the impact of the bearing clearance on the system stability, making the robot wrist more stable and reliable during operation.

[0038] The six-axis transmission system is divided into six-axis I, six-axis II and six-axis III. The six-axis I, six-axis II and six-axis III are divided according to the axes included in the six-axis transmission system. The six-axis transmission system can be positioned more flexibly in the vertical direction and can achieve more complex movements such as tilting and rotation. The rotation of the sixth axis is usually perpendicular to the rotation plane of the fifth axis, which enables the robot's end effector to perform more types of movements in three-dimensional space.

[0039] The six-axis I axis includes a six-axis first gear 31, an axis of a six-axis second gear 32 that is interference fit with the hole of the six-axis first gear 31, a six-axis sleeve 33 installed between the hole of the six-axis first gear 31 and the shaft end of the six-axis second gear 32, a six-axis first bearing sleeve 34 installed on the axis of the six-axis second gear 32, a six-axis first bearing 35 installed between the six-axis first bearing sleeve 34 and the wrist body 1, a six-axis second bearing 36, a six-axis third bearing 37 and a six-axis fourth bearing 38.

[0040] Furthermore, the six-axis sleeve 33 is used to reduce the gap between the six-axis first gear 31 and the six-axis second gear 32, so as to strengthen the connection between the six-axis first gear 31 and the six-axis second gear 32.

[0041] Furthermore, since the outer ring size of the six-axis first bearing 35 is too small to cooperate with the wrist body 1, a six-axis first bearing sleeve 34 is added between the six-axis first bearing 35 and the wrist body 1, and the six-axis first bearing sleeve 34 and the wrist body 1 are connected by a six-axis second screw 39.

[0042] The six-axis II axis includes a six-axis third gear 41 connected to the six-axis second gear 32 through gear meshing, a six-axis fourth gear 42 with an interference fit with the six-axis third gear 41, a six-axis fifth bearing 43 arranged between the six-axis fourth gear 42 and the six-axis support 2, a six-axis sixth bearing 44 arranged between the six-axis third gear 41 and the six-axis support 2, a six-axis seventh bearing 45 arranged between the six-axis fourth gear 42 and the six-axis housing 4, a six-axis first locking nut 46 installed at the end of the six-axis fourth gear 42, and a six-axis fifth bearing 43 arranged between the six-axis fourth gear 42 and the six-axis support 2. A first six-axis sleeve 47 is disposed between the third six-axis gear 41 and the fourth six-axis gear 42, a bearing six-axis washer 49 is disposed between the first six-axis sleeve 47 and the seventh six-axis bearing 45, a first six-axis gasket 50 and a second six-axis gasket 51 are used to eliminate the bearing clearance between the sixth six-axis bearing 44 and the six-axis support 2 and the bearing clearance between the seventh six-axis bearing 45 and the six-axis washer 49, respectively, and a first six-axis rotating lip seal ring 53 and a first six-axis oil seal ring 54 are installed between the wrist body 1 and the six-axis housing 4.

[0043] Furthermore, when the six-axis second gear 32 and the six-axis third gear 41 are meshed, tangential force, radial force and axial force are generated.

[0044] Furthermore, the first locking nut 46 of the sixth axis is installed at the end of the fourth gear 42 of the sixth axis, close to the fifth bearing 43 of the sixth axis, and plays a role in fixing the sixth axis II.

[0045] Furthermore, the rotation of the sixth-axis third gear 41 drives the movement of the sixth-axis fourth gear 42 .

[0046] Furthermore, the sixth shaft fifth bearing 43 , the sixth shaft sixth bearing 44 , and the sixth shaft seventh bearing 45 rotate along with the sixth shaft third gear 41 and the sixth shaft fourth gear 42 , and offset the force generated by the sixth shaft second gear 32 and the sixth shaft third gear 41 .

[0047] Furthermore, the sixth-axis third gear 41 and the sixth-axis first sleeve 47 are connected by the sixth-axis third screw 48 to strengthen the connection between the two gears.

[0048] Furthermore, the purpose of the bearing six-axis washer 49 is to reduce the bearing clearance, but bearing clearance will still be generated during the actual installation process, and the place where it is generated is between the six-axis sixth bearing 44 and the six-axis support 2, and between the six-axis seventh bearing 45 and the six-axis washer 49.

[0049] Furthermore, the six-axis first rotating lip seal ring 53 and the six-axis first oil seal ring 54 are used to prevent oil leakage from this position, and the six-axis first sealing cover 52 is installed on the six-axis support 2 to prevent oil leakage from this position.

[0050] The six-axis III axis includes a six-axis output flange shaft 63, a six-axis fifth gear 61 with an interference fit with the six-axis output flange shaft 63, a six-axis eighth bearing 64 installed on the six-axis output flange shaft 63 to offset the generated force, a six-axis ninth bearing 65, a six-axis tenth bearing 66, a six-axis eleventh bearing 67, a six-axis second bearing sleeve 69 arranged between the six-axis eighth bearing 64 and the six-axis output flange shaft 63, a six-axis second rotating lip seal ring 70 installed between the six-axis output flange shaft 63 and the six-axis housing 4, a six-axis second locking nut 68 installed at the shaft end of the six-axis output flange shaft 63, a six-axis second sealing cover 71 installed at the end of the six-axis housing 4, and a six-axis third gasket 72 installed between the six-axis tenth bearing 66 and the six-axis housing 4, the purpose of which is to eliminate bearing clearance.

[0051] Furthermore, since the inner diameter of the sixth-axis eighth bearing 64 is larger than the aperture of the sixth-axis output flange shaft 63 , a sixth-axis second bearing sleeve 69 is added between the two.

[0052] Furthermore, the sixth-axis second locking nut 68 serves to fix the sixth-axis III axis.

[0053] Furthermore, the sixth-axis second sealing cover 71 is installed at the end of the sixth-axis housing 4 to prevent oil leakage from this position.

[0054] Furthermore, the purpose of the sixth-axis third gasket 72 is to eliminate the bearing clearance between the sixth-axis tenth bearing 66 and the sixth-axis housing 4 .

[0055] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and the specification only describe the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A hollow robot wrist based on hypoid gears, characterized in that: It includes an external shell and an internal transmission system, specifically: The housing comprises a six-axis housing (4), a six-axis support (2), a wrist body (1) connected to the six-axis support (2), a five-axis support (3) connected to the wrist body (1), and a five-axis third gear (21) connected to the six-axis housing (4); The transmission system includes a five-axis transmission system that enables the robot's arm to rotate on a horizontal plane and a six-axis transmission system that enables the robot's end effector to rotate on a vertical plane.

2. A hollow robot wrist based on hypoid gears according to claim 1, characterized in that: The five-axis transmission system is divided into five-axis I and five-axis II, and the five-axis I and five-axis II are divided according to the axes included in the five-axis transmission system.

3. A hollow robot wrist based on hypoid gears according to claim 2, characterized in that: The five-axis I axis comprises a five-axis first gear (11), an axis of a five-axis second gear (12) which is interference-fitted with a hole of the five-axis first gear (11), a five-axis sleeve (13) installed between the hole of the five-axis first gear (11) and the axis end of the five-axis second gear (12), a five-axis bearing seat (14) installed on the axis of the five-axis second gear (12), a five-axis first bearing (15) installed between the five-axis bearing seat (14) and the wrist body (1), a five-axis second bearing (16), a five-axis third bearing (17) and a five-axis fourth bearing (18).

4. The hollow robot wrist based on hypoid gears according to claim 2, characterized in that: The five-axis II axis comprises a five-axis third gear (21) connected to the six-axis housing (4) through a five-axis second screw (25), a five-axis fifth bearing (22) arranged between the five-axis support (3) and the five-axis third gear (21), a five-axis sixth bearing (23) arranged between the five-axis third gear (21), the five-axis support (3) and the six-axis housing (4), a five-axis locking nut (24) fixed on the five-axis support (3), a five-axis rotating lip seal ring (26) and a five-axis oil seal ring (27) installed between the five-axis support (3) and the six-axis housing (4), and a five-axis gasket (28) arranged between the five-axis fifth bearing (22) and the five-axis support (3).

5. The hollow robot wrist based on hypoid gears according to claim 2, characterized in that: The six-axis transmission system is divided into six-axis I, six-axis II and six-axis III. The six-axis I, six-axis II and six-axis III are divided according to the axes included in the six-axis transmission system.

6. The hollow robot wrist based on hypoid gears according to claim 5, characterized in that: The six-axis I axis comprises a six-axis first gear (31), an axis of a six-axis second gear (32) which is interference-fitted with a hole of the six-axis first gear (31), a six-axis sleeve (33) installed between the hole of the six-axis first gear (31) and the axis end of the six-axis second gear (32), a six-axis first bearing sleeve (34) installed on the axis of the six-axis second gear (32), a six-axis first bearing (35) installed between the six-axis first bearing sleeve (34) and the wrist body (1), a six-axis second bearing (36), a six-axis third bearing (37) and a six-axis fourth bearing (38).

7. The hollow robot wrist based on hypoid gears according to claim 6, characterized in that: The six-axis II axis comprises a six-axis third gear (41) connected to the six-axis second gear (32) through gear meshing, a six-axis fourth gear (42) interference-fitted with the six-axis third gear (41), a six-axis fifth bearing (43) arranged between the six-axis fourth gear (42) and the six-axis support (2), a six-axis sixth bearing (44) arranged between the six-axis third gear (41) and the six-axis support (2), a six-axis seventh bearing (45) arranged between the six-axis fourth gear (42) and the six-axis housing (4), a six-axis first locking nut (46) installed at the end of the six-axis fourth gear (42), and a six-axis fifth bearing (43) arranged between the six-axis fourth gear (42) and the six-axis support (2). A first six-axis sleeve (47) is disposed between the third six-axis gear (41) and the fourth six-axis gear (42); a bearing six-axis washer (49) is disposed between the first six-axis sleeve (47) and the seventh six-axis bearing (45); a first six-axis gasket (50) and a second six-axis gasket (51) are used to eliminate the bearing clearance between the sixth six-axis bearing (44) and the six-axis support (2) and the bearing clearance between the seventh six-axis bearing (45) and the six-axis washer (49); and a first six-axis rotating lip seal ring (53) and a first six-axis oil seal ring (54) are installed between the wrist body (1) and the six-axis housing (4).

8. The hollow robot wrist based on hypoid gears according to claim 5, characterized in that: The six-axis III axis comprises a six-axis output flange axis (63), a six-axis fifth gear (61) which is interference-fitted with the six-axis output flange axis (63), a six-axis eighth bearing (64) installed on the six-axis output flange axis (63) for offsetting the generated force, a six-axis ninth bearing (65), a six-axis tenth bearing (66), a six-axis eleventh bearing (67), a six-axis second bearing sleeve (69) arranged between the six-axis eighth bearing (64) and the six-axis output flange axis (63), a six-axis second rotating lip seal ring (70) installed between the six-axis output flange axis (63) and the six-axis housing (4), a six-axis second locking nut (68) installed at the shaft end of the six-axis output flange axis (63), a six-axis second sealing cover (71) installed at the end of the six-axis housing (4), and a six-axis third gasket (72) installed between the six-axis tenth bearing (66) and the six-axis housing (4).

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