Hollow robot wrist with quasi double-gear structure

Abstract

The utility model relates to the technical field of robots, in particular to a hollow robot wrist with a quasi double-gear structure, which comprises a five-axis first shell. A five-axis second shell; a fifth-shaft third shell; a six-axis first shell; a six-axis second shell; a sixth-shaft third shell; the five-axis I shaft is arranged in the five-axis first shell; the five-axis II shaft is arranged in the five-axis first shell and is fixedly connected with the five-axis third shell; the six-axis I shaft is arranged in the five-axis first shell; the sixth shaft II is arranged in the fifth shaft third shell, the sixth shaft first shell and the sixth shaft second shell; and the shaft III of the sixth shaft is fixed in the third shell of the sixth shaft. The robot wrist has the advantages that convenience of a hollow structure is achieved, heat dissipation performance of the wrist is improved, maintenance cost and complexity are reduced, high-load and high-precision operation is achieved, transmission efficiency and precision are improved, adaptability of the robot wrist is improved, and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a hollow robot wrist with a hypoid gear structure. Background Technique

[0002] In the field of mechanical transmission, gear transmission systems are widely used in various mechanical equipment. Traditional gear transmission systems usually include one or more pairs of gears, which transmit motion and power through meshing. With the increasing demand for miniaturization, lightweight, and high efficiency of mechanical equipment, the design of gear transmission systems is also constantly evolving. Among them, hypoid gears have received more and more attention because they can provide higher transmission efficiency and better mechanical properties.

[0003] Although the solid robot wrist with hypoid gears shows some advantages, such as high rigidity, impact resistance, long life, and large hollow, etc., there are also some deficiencies in the prior art. The solid robot wrist with hypoid gear structure may have limitations in terms of flexibility, heat dissipation, cable management, load-bearing capacity, rigidity and stability, motion speed, application scenario diversity, cost-effectiveness, technological innovation, transmission efficiency, and comprehensive performance. Summary of the Invention

[0004] In order to solve the above technical problems, the utility model proposes a hollow robot wrist with a hypoid gear structure. It has a reasonable structure, high strength, and excellent heat dissipation performance. Compared with the solid wrist, it shows significant advantages in terms of design, performance, application flexibility, cost-effectiveness, and industrial promotion, and has important practical significance.

[0005] The technical problems to be solved by the utility model are realized by adopting the following technical solutions:

[0006] A hollow robot wrist with a hypoid gear structure includes:

[0007] A five-axis first housing;

[0008] A five-axis second housing, which is connected to the five-axis first housing by a five-axis first screw;

[0009] A five-axis third housing;

[0010] A six-axis first housing, which is connected to the five-axis third housing by a five-axis second screw;

[0011] A six-axis second housing, which is connected to the six-axis first housing by a six-axis first screw;

[0012] A six-axis third housing, which is of a hollow structure;

[0013] A five-axis I axis, which is arranged in the five-axis first housing;

[0014] The five-axis II axis is arranged inside the first five-axis housing and fixedly connected to the third five-axis housing. The five-axis II axis is meshed with the five-axis I axis to form a hypoid gear pair.

[0015] The six-axis I axis is arranged inside the first five-axis housing.

[0016] The six-axis II axis is arranged inside the third five-axis housing, the first six-axis housing, and the second six-axis housing. The six-axis II axis is meshed with the six-axis I axis to form a hypoid gear pair.

[0017] The six-axis III axis is fixed inside the third six-axis housing. The six-axis III axis is meshed with the six-axis II axis to form a bevel gear pair.

[0018] As a further improvement of the present utility model, the five-axis I axis includes a five-axis first gear and a five-axis first bearing installed inside the first five-axis housing. The five-axis first gear is installed on the five-axis first bearing.

[0019] As a further improvement of the present utility model, the five-axis II axis includes a five-axis second gear located inside the first five-axis housing and fixedly connected to the third five-axis housing by a five-axis third screw, and a five-axis second bearing installed inside the first five-axis housing. The five-axis second gear and the five-axis second bearing are connected by a five-axis first gasket. The five-axis second gear is meshed with the five-axis first gear.

[0020] As a further improvement of the present utility model, the five-axis II axis further includes a five-axis rotary lip seal disposed between the first five-axis housing and the third five-axis housing, and a five-axis O-ring disposed between the third five-axis housing and the first six-axis housing.

[0021] As a further improvement of the present utility model, the six-axis I axis includes a six-axis first gear and a six-axis first bearing installed inside the first five-axis housing. The six-axis first gear is installed on the six-axis first bearing.

[0022] As a further improvement of the present utility model, the six-axis II axis includes a six-axis second gear located inside the first five-axis housing and meshed with the six-axis first gear, a six-axis third gear located inside the second six-axis housing, a six-axis second bearing and a six-axis third bearing installed on the second five-axis housing, and a six-axis fifth bearing installed inside the third five-axis housing. The six-axis second gear and the six-axis third gear are coaxially connected to form a six-axis double gear. The six-axis second gear is installed on the six-axis second bearing and the six-axis third bearing. The six-axis third gear is installed on the six-axis fifth bearing.

[0023] As a further improvement of the present utility model, the six-axis second gear is coaxial with the five-axis second gear and is connected through a six-axis first gasket and a six-axis fourth bearing.

[0024] As a further improvement of the present utility model, the six-axis III shaft includes a six-axis fourth gear coaxially arranged on the six-axis third housing and meshed with the six-axis third gear, a six-axis O-ring arranged between the six-axis first housing and the six-axis second housing, a six-axis rotary lip seal arranged between the six-axis first housing and the six-axis third housing, and a six-axis sixth bearing arranged between the six-axis second housing and the six-axis third housing.

[0025] The beneficial effects of the present utility model are as follows:

[0026] 1. Realize the convenience of the hollow structure: The design of the hollow wrist allows pipelines and cables to pass through, simplifies wiring management, reduces external interference, and at the same time provides greater freedom, making the movement of the robot wrist more flexible in space.

[0027] 2. Improve the heat dissipation performance of the wrist: The hollow structure helps with heat dissipation inside the wrist, avoids overheating problems caused by long-term operation, and extends the service life of the robot wrist.

[0028] 3. Reduce maintenance costs and complexity: The optimized gear structure and hollow design reduce the number and complexity of mechanical components, thereby reducing maintenance costs and failure rates.

[0029] 4. Achieve high-load and high-precision operations: The hollow wrist structure combined with the hypoid gear design enables the robot wrist to achieve high-precision operations while maintaining high loads, meeting the dual requirements for precision and force in industrial automation.

[0030] 5. Improve transmission efficiency and precision: By optimizing the gear structure and transmission system design, a more accurate transmission ratio and higher transmission efficiency are achieved, ensuring the accuracy and repeatability of the robot wrist when performing tasks.

[0031] 6. Enhance the adaptability of the robot wrist: The hollow wrist structure enables the robot wrist to adapt to various tools and equipment, improving the adaptability of the robot in diverse operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present utility model will be further described below in conjunction with the drawings and embodiments:

[0033] Figure 1 is the front view schematic diagram of the present utility model;

[0034] Figure 2 is the top view schematic diagram of the present utility model;

[0035] Figure 3 is the intuitive schematic diagram of the present utility model;

[0036] Figure 4 is the schematic diagram of the drive structure of the first axis of the five-axis of the present utility model;

[0037] Figure 5 is the schematic diagram of the drive structure of the first axis of the six-axis of the present utility model;

[0038] Figure 6 is the schematic diagram of the drive structures of the second axes of the five-axis and six-axis of the present utility model;

[0039] Figure 7 is the schematic diagram of the drive structure of the third axis of the six-axis of the present utility model.

[0040] In the figure: 1. The first housing of the five-axis; 10. The first gear of the five-axis; 11. The first bearing of the five-axis; 12. The second gear of the five-axis; 13. The third screw of the five-axis; 14. The first gasket of the five-axis; 15. The second bearing of the five-axis; 16. The rotary lip seal of the five-axis; 17. The O-ring of the five-axis;

[0041] 2. The second housing of the five-axis; 20. The first gear of the six-axis; 21. The first bearing of the six-axis; 22. The second gear of the six-axis; 23. The third gear of the six-axis; 24. The second bearing of the six-axis; 25. The third bearing of the six-axis; 26. The first gasket of the six-axis; 27. The fourth bearing of the six-axis; 28. The fifth bearing of the six-axis; 29. The fourth gear of the six-axis;

[0042] 3. The third housing of the five-axis; 30. The O-ring of the six-axis; 31. The rotary lip seal of the six-axis; 32. The sixth bearing of the six-axis;

[0043] 4. The first housing of the six-axis; 5. The second housing of the six-axis; 6. The third housing of the six-axis; 7. The first screw of the five-axis; 8. The second screw of the five-axis; 9. The first screw of the six-axis. Specific embodiments

[0044] In order to make the technical means, creative features, achieved purposes and effects realized by the present utility model easy to understand, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] As Figures 1 to 3As shown in the figure, a hollow robot wrist with a hypoid gear structure is composed of a five-axis first housing 1, a five-axis second housing 2, a five-axis third housing 3, a six-axis first housing 4, a six-axis second housing 5, a six-axis third housing 6, a five-axis transmission system, and a six-axis transmission system. The five-axis first housing 1 is connected to the five-axis second housing 2 by a five-axis first screw 7; the five-axis third housing 3 is connected to the six-axis first housing 4 by a five-axis second screw 8; the six-axis first housing 4 is connected to the six-axis second housing 5 by a six-axis first screw 9. The six-axis third housing 6 is a hollow structure, which can reduce the weight and inertia of the structure while ensuring the basic strength remains unchanged, improving the dynamic response speed of the system; the internal structure is also more compact; in an industrial robot, another advantage of the hollow structure is that it is convenient for the connection of the pipeline package.

[0046] The five-axis transmission system includes a five-axis shaft I and a five-axis shaft II. The five-axis shaft I is arranged inside the five-axis first housing 1; the five-axis shaft II is arranged inside the five-axis first housing 1 and is fixedly connected to the five-axis third housing 3.

[0047] As Figure 4 shown, the five-axis shaft I is composed of a five-axis first gear 10 and a five-axis first bearing 11. The five-axis first bearing 11 is installed inside the five-axis first housing 1, and the five-axis first gear 10 is installed on the five-axis first bearing 11.

[0048] As Figure 6 shown, the five-axis shaft II is composed of a five-axis second gear 12, a five-axis third screw 13, a five-axis first gasket 14, a five-axis second bearing 15, a five-axis rotary lip seal 16, and a five-axis O-ring 17. The five-axis second gear 12 is located inside the five-axis first housing 1, the five-axis second gear 12 is meshed and connected with the five-axis first gear 10, the five-axis second gear 12 is fixedly connected to the five-axis third housing 3 by the five-axis third screw 13, the five-axis second gear 12 is connected to the five-axis second bearing 15 by the five-axis first gasket 14, and the five-axis first gasket 14 plays a role in adjusting the height of the five-axis second gear 12, thereby adjusting the tooth surface meshing position of the five-axis first gear 10 and the five-axis second gear 12; the five-axis second bearing 15 is installed inside the five-axis first housing 1, the five-axis rotary lip seal 16 is arranged between the five-axis first housing 1 and the five-axis third housing 3, and the five-axis rotary lip seal 16 plays a role in preventing oil leakage between the five-axis first housing 1 and the five-axis third housing 3; the five-axis O-ring 17 is arranged between the five-axis third housing 3 and the six-axis first housing 4, and the five-axis O-ring 17 plays a role in preventing oil leakage between the five-axis third housing 3 and the six-axis first housing 4.

[0049] AsFigure 5 As shown, the six-axis I axis is composed of a six-axis first gear 20 and a six-axis first bearing 21. The six-axis first bearing 21 is installed inside the five-axis first housing 1, and the six-axis first gear 20 is installed on the six-axis first bearing 21.

[0050] like Figure 6 As shown, the six-axis II axis is composed of a six-axis second gear 22, a six-axis third gear 23, a six-axis second bearing 24, a six-axis third bearing 25, a six-axis first gasket 26, a six-axis fourth bearing 27, and a six-axis fifth bearing 28. The six-axis second gear 22 is located inside the five-axis first housing 1, the six-axis second gear 22 is meshed with the six-axis first gear 20, the six-axis third gear 23 is located inside the six-axis second housing 5, the six-axis second gear 22 and the six-axis third gear 23 form a six-axis double gear; the six-axis is installed on the six-axis second bearing 24 and the six-axis third bearing 25, the six-axis third gear 23 is installed on the six-axis fifth bearing 28, the six-axis second bearing 24 and the six-axis third bearing 25 are installed on the five-axis second housing 2; the six-axis first gasket 26 and the six-axis fourth bearing 27 are arranged between the six-axis second gear 22 and the five-axis second gear 12, the six-axis second gear 22 is coaxial with the five-axis second gear 12 and is connected through the six-axis first gasket 26 and the six-axis fourth bearing 27; the six-axis fifth bearing 28 is installed inside the five-axis third housing 3.

[0051] In the above structure, the sixth-axis second bearing 24, the sixth-axis third bearing 25, the sixth-axis fourth bearing 27 and the sixth-axis fifth bearing 28 play the role of supporting the sixth-axis II axis; the sixth-axis first gasket 26 plays the role of adjusting the tooth surface meshing position of the sixth-axis first gear 20 and the sixth-axis second gear 22.

[0052] like Figure 6 and Figure 7As shown in the figure, the six-axis III axis is composed of a six-axis fourth gear 29, a six-axis O-ring 30, a six-axis rotary lip seal 31, and a six-axis sixth bearing 32. The six-axis fourth gear 29 is coaxially arranged on the six-axis third housing 6 and is meshed with the six-axis third gear 23; the six-axis O-ring 30 is arranged between the six-axis first housing 4 and the six-axis second housing 5, and the six-axis O-ring 30 plays a role in preventing oil leakage between the six-axis first housing 4 and the six-axis second housing 5; the six-axis rotary lip seal 31 is arranged between the six-axis first housing 4 and the six-axis third housing 6, and the six-axis rotary lip seal 31 plays a role in preventing oil leakage between the six-axis first housing 4 and the six-axis third housing 6; the six-axis sixth bearing 32 is arranged between the six-axis second housing 5 and the six-axis third housing 6, and the six-axis sixth bearing 32 is provided with a sealing mechanism, which plays a role in supporting the six-axis III axis and preventing oil leakage between the six-axis second housing 5 and the six-axis third housing 6.

[0053] In the above structure, the five-axis first gear 10 in the five-axis I axis and the five-axis second gear 12 in the five-axis II axis form a hypoid gear pair; the six-axis first gear 20 in the six-axis I axis and the six-axis second gear 22 in the six-axis II axis form a hypoid gear pair.

[0054] The biggest feature of the hypoid gear is that it can be used for the transmission between two shafts with misaligned axes. In this embodiment, the axes of the five-axis II axis and the six-axis II axis coincide. If an ordinary bevel gear pair is used, interference will occur or the structure will be too large and not compact. In this embodiment, a hypoid gear pair is used. There is an offset distance between the five-axis I axis and the five-axis II axis, and there is an offset distance between the six-axis I axis and the six-axis II axis, which are respectively arranged at both ends of the housing, so that the volume of the housing is reduced and the structure is compact.

[0055] The six-axis third gear 23 in the six-axis II axis and the six-axis fourth gear 29 in the six-axis III axis form a bevel gear pair. This design is that there is only a gear pair for the six-axis and no gear pair for the five-axis, so there is no problem of spatial layout. Through the bevel gear pair, the function of rotating the moving shaft is realized, so that the six-axis fourth gear 29 drives the six-axis third housing 6 to rotate.

[0056] The working principle and usage process of the present utility model:

[0057] Five-axis transmission principle:

[0058] For the five-axis, the first axis rotates first, causing the first five-axis gear 10 to rotate. Then, through the meshing of the first five-axis gear 10 and the second five-axis gear 12, the second five-axis gear 12 rotates. The second five-axis gear 12 is connected to the third five-axis housing 3 by the third five-axis screw 13, and the third five-axis housing 3 is connected to the first six-axis housing 4 by the second five-axis screw 8. Therefore, the second five-axis gear 12 drives the third five-axis housing 3 and the first six-axis housing 4 to rotate. The first five-axis bearing 11 rotates with the first five-axis gear 10, and the second five-axis bearing 15 rotates with the second five-axis gear 12 and together bears the meshing force of the first five-axis hypoid gear pair.

[0059] Six-axis drive principle:

[0060] For the six-axis, the first axis rotates first, driving the first six-axis gear 20 to rotate. Then, the first six-axis gear 20 meshes with the second six-axis gear 22, causing the second six-axis gear 22 to rotate. Since both the second six-axis gear 22 and the third six-axis gear 23 are on the second six-axis, the second six-axis gear 22 drives the third six-axis gear 23 to rotate through the second six-axis. The third six-axis gear 23 meshes with the fourth six-axis gear 29 to drive the fourth six-axis gear 29 to rotate. The fourth six-axis gear 29 is connected to the third six-axis housing 6 by screws, thereby driving the third six-axis housing 6 to rotate.

[0061] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hollow robot wrist with a quasi-double gear structure, characterized in that: include, A five-axis first housing (1); The five-axis second housing (2) is connected to the five-axis first housing (1) via the five-axis first screw (7); A five-axis third housing (3); The six-axis first housing (4) is connected to the five-axis third housing (3) via the five-axis second screw (8); A six-axis second housing (5) connected to the six-axis first housing (4) via a six-axis first screw (9); The third six-axis housing (6) is a hollow structure; A fifth axis I axis, arranged in the fifth axis first housing (1); A fifth-axis II shaft is arranged in the fifth-axis first housing (1) and is fixedly connected to the fifth-axis third housing (3), and the fifth-axis II shaft is meshedly connected with the fifth-axis I shaft to form a hypoid gear pair; A six-axis I axis, arranged in the five-axis first housing (1); A six-axis II shaft is arranged in the five-axis third housing (3), the six-axis first housing (4) and the six-axis second housing (5), and the six-axis II shaft is meshed and connected with the six-axis I shaft to form a hypoid gear pair; The sixth shaft III is fixed in the sixth shaft third housing (6), and the sixth shaft III is meshedly connected with the sixth shaft II to form a bevel gear pair.

2. The hollow robot wrist with a quasi-double gear structure according to claim 1, characterized in that: The five-axis I axis comprises a five-axis first gear (10) and a five-axis first bearing (11) installed inside the five-axis first housing (1), and the five-axis first gear (10) is installed on the five-axis first bearing (11).

3. The hollow robot wrist with a quasi-double gear structure according to claim 2, characterized in that: The five-axis II axis includes a five-axis second gear (12) located inside the five-axis first housing (1) and fixedly connected to the five-axis third housing (3) through a five-axis third screw (13), and a five-axis second bearing (15) installed inside the five-axis first housing (1). The five-axis second gear (12) and the five-axis second bearing (15) are connected through a five-axis first gasket (14), and the five-axis second gear (12) is meshedly connected with the five-axis first gear (10).

4. The hollow robot wrist with a quasi-double gear structure according to claim 3, characterized in that: The five-axis II axis also includes a five-axis rotating lip seal ring (16) arranged between the five-axis first housing (1) and the five-axis third housing (3), and a five-axis O-ring (17) arranged between the five-axis third housing (3) and the six-axis first housing (4).

5. The hollow robot wrist with a quasi-double gear structure according to claim 3, characterized in that: The six-axis I axis comprises a six-axis first gear (20) and a six-axis first bearing (21) installed inside the five-axis first housing (1), and the six-axis first gear (20) is installed on the six-axis first bearing (21).

6. The hollow robot wrist with a quasi-double gear structure according to claim 5, characterized in that: The six-axis II axis includes a six-axis second gear (22) located inside the five-axis first housing (1) and meshingly connected with the six-axis first gear (20), a six-axis third gear (23) located inside the six-axis second housing (5), a six-axis second bearing (24) and a six-axis third bearing (25) installed on the five-axis second housing (2), and a six-axis fifth bearing (28) installed inside the five-axis third housing (3); the six-axis second gear (22) and the six-axis third gear (23) are coaxially connected to form a six-axis double gear; the six-axis second gear (22) is installed on the six-axis second bearing (24) and the six-axis third bearing (25); and the six-axis third gear (23) is installed on the six-axis fifth bearing (28).

7. The hollow robot wrist with a quasi-double gear structure according to claim 6, characterized in that: The sixth-axis second gear (22) is coaxial with the fifth-axis second gear (12) and is connected via the sixth-axis first gasket (26) and the sixth-axis fourth bearing (27).

8. The hollow robot wrist with a quasi-double gear structure according to claim 6, characterized in that: The six-axis III axis includes a six-axis fourth gear (29) coaxially arranged on the six-axis third housing (6) and meshingly connected to the six-axis third gear (23), a six-axis O-ring (30) arranged between the six-axis first housing (4) and the six-axis second housing (5), a six-axis rotating lip seal ring (31) arranged between the six-axis first housing (4) and the six-axis third housing (6), and a six-axis sixth bearing (32) arranged between the six-axis second housing (5) and the six-axis third housing (6).

Images