Double-transmission joint driving structure of heavy-load industrial robot

Abstract

The utility model discloses a double-transmission joint driving structure of a heavy-load industrial robot, which comprises a big arm with a symmetrical structure, two RV speed reducers, two servo motors, a rotary seat with a symmetrical structure and two nitrogen tension cylinders, and the two RV speed reducers and the two servo motors are symmetrically arranged on two sides of the big arm. The large arm is rotationally connected with the rotating seat through the RV speed reducer, the servo motor drives the large arm to rotate around the J2 shaft through the RV speed reducer, the two nitrogen tension cylinders are symmetrically installed on the two sides of the rotating seat, and the two ends of each nitrogen tension cylinder are hinged to the large arm and the rotating seat respectively. While large output torque is guaranteed, cost can be effectively reduced, overall balanced stress of the body is effectively guaranteed, unbalance loading is avoided, the rigidity of a casting can be effectively guaranteed, and the inherent frequency of the whole machine is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a heavy load industrial robot double drive joint drive structure. BACKGROUND

[0002] As an important part of high-end equipment manufacturing industry, heavy load industrial robots show broad application prospects in multiple key industries such as automobile manufacturing, aerospace, heavy machinery, material storage, etc. With the improvement of load capacity, the torque requirement of joint motor reducer of heavy load robot is also higher and higher. The selectivity of large-sized reducer and motor is small, and the cost is high. The usual solution is to increase a balancing device at the J2 shaft of the industrial robot, such as adding a mechanical spring, a nitrogen gas spring, a metal counterweight, etc. to reduce the selection of the reducer. However, the mainstream heavy load robot joint still adopts a single large-sized motor, a reducer and a balancing device. This scheme has high cost, and from the structure layout, it is an asymmetric structure, which has certain influence on the rigidity of the whole machine.

[0003] Chinese patent CN110125974 B discloses a single motor double reducer robot joint structure, which proposes to drive two RV reducers by a single motor through an input shaft. The two RV reducers are symmetrically fixed on both sides of the output end body, and jointly transmit torque while keeping synchronous transmission. This scheme realizes the function of a single large reducer through two small reducers, and the cost is reduced. However, this scheme is prone to torsional deformation due to the long motor shaft, causing the two reducers to be out of sync, resulting in poor robot precision. UTILITY MODEL CONTENT

[0004] To solve the above problems, the utility model provides a heavy load industrial robot double drive joint drive structure, which adopts a joint drive structure of double motor, double reducer and double nitrogen cylinder, and can realize the technical effects of low cost, high rigidity and good precision.

[0005] The technical scheme adopted by the utility model is:

[0006] A heavy load industrial robot double drive joint drive structure includes a symmetrical structure of a large arm, two RV reducers, two servo motors, a symmetrical structure of a rotating seat and two nitrogen tension cylinders. The two RV reducers and the two servo motors are symmetrically installed on both sides of the large arm. The large arm is rotatably connected to the rotating seat through the RV reducer. The servo motor drives the large arm to rotate around the J2 shaft through the RV reducer. The two nitrogen tension cylinders are symmetrically installed on both sides of the rotating seat, and their two ends are hingedly connected to the large arm and the rotating seat, respectively.

[0007] Further, the support shaft A is arranged between the arm and the rotating seat, and the arm and the rotating seat are rotationally connected through the RV reducer and the support shaft A.

[0008] Further, the output end of the RV reducer is fixedly connected with the arm, the input end of the RV reducer is fixedly connected with the rotating seat, and the servo motor is connected with the RV reducer through a gear.

[0009] Further, one end of the nitrogen tension cylinder is hingedly connected with the arm through the support shaft B, and the other end is hingedly connected with the rotating seat through the support shaft C.

[0010] Further, the center position of the end of the arm connected with the rotating seat is provided with a U-shaped opening, the U-shaped opening divides the end of the arm into two symmetrical connecting portions, a tension cylinder mounting seat is arranged on the front side of the connecting portion, and a reducer mounting hole and a support shaft mounting hole A are arranged in the connecting portion.

[0011] Further, two mounting grooves are symmetrically arranged on the rotating seat, an outer side wall of one end of the mounting groove is provided with a reducer mounting hole, an inner side wall of the mounting groove is provided with a support shaft mounting hole B, the axis of the reducer mounting hole and the support shaft mounting hole B coincide, and the J2 axis of the rotation of the arm around the rotating seat is formed.

[0012] Further, the connecting portion of the arm is inserted into the mounting groove of the rotating seat, one end of the support shaft A is rotatably connected with the arm through the bearing and is arranged in the support shaft mounting hole A of the arm, and the other end of the support shaft A is fixedly connected with the rotating seat and is inserted into the support shaft mounting hole B of the rotating seat.

[0013] Further, the two RV reducers are symmetrically arranged in the two reducer mounting holes of the arm, the output end of the reducer is fixedly connected with the arm through the screw, the input end of the reducer is arranged in the reducer mounting hole of the rotating seat and is fixedly connected with the rotating seat through the connecting plate.

[0014] The application has the following beneficial effects:

[0015] 1. Compared with the traditional large single motor, single reducer and single balance cylinder structure, the application can effectively reduce the cost while ensuring a large output torque by using two small motors, reducers and nitrogen tension cylinders.

[0016] 2, The arrangement of the big arm, the transfer seat and the balance cylinder is symmetrical structure, which effectively ensures the overall balance of the body, avoids the eccentric load, and the symmetrical structure of the big arm and the transfer seat can effectively ensure the rigidity of the casting and improve the natural frequency of the whole machine.

[0017] 3, Compared with the prior art of driving two speed reducers by one long shaft, the present application is symmetrical arrangement of two motors and speed reducers, so that the length of the motor gear is shortened, thereby overcoming the disadvantage of easy deformation of the long shaft, and effectively ensuring the mechanical transmission precision and the stability of the transmission. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure diagram of the heavy-load industrial robot double-drive joint driving structure of the present application.

[0019] Figure 2 The partial sectional view of Figure 1

[0020] Figure 3 The structure diagram of the transfer seat of the present application.

[0021] Figure 4 The structure diagram of the big arm of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the present application more clear, the technical scheme of the present application will be described clearly and completely in combination with the drawings and a preferred embodiment.

[0023] Referring to Figures 1-4 A heavy-load industrial robot double-drive joint driving structure, comprising a symmetrical structure big arm 1, two RV speed reducers 2, two servo motors 3, a symmetrical structure transfer seat 4 and two nitrogen tension cylinders 5.

[0024] The center position of the end of the big arm 1 connected to the transfer seat is provided with a U-shaped opening, and the U-shaped opening divides the big arm end into two symmetrical connecting parts. The front side of the connecting part is provided with a tension cylinder mounting seat 11, and the connecting part is provided with a speed reducer mounting hole 12 and a support shaft mounting hole A 13. The speed reducer mounting hole 12 is located on the outside of the connecting part, and the support shaft mounting hole A 13 is located on the inside of the connecting part.

[0025] ​Two mounting slots are symmetrically arranged on the rotating seat 4, an outer side wall of one end of the mounting slot is provided with a speed reducer mounting hole 42, and an inner side wall is provided with a support shaft mounting hole B41, the axis of the speed reducer mounting hole 42 and the support shaft mounting hole B41 coincide, forming the J2 axis around which the large arm rotates. The outer side wall and the inner side wall of the other end of the mounting slot are respectively provided with a support shaft mounting seat C43. In this embodiment, the two mounting slots are formed by four pieces of sheet metal vertically arranged on a bottom plate, the two pieces of sheet metal on the outer side form the outer side wall of the mounting slot, the two pieces of sheet metal on the inner side form the inner side wall of the mounting slot, and the speed reducer mounting hole 42 and the support shaft mounting hole B41 are connected through a tapered hole. Two opposite sides of one outer side sheet metal and one inner side sheet metal protrude to form a support shaft mounting seat 43, and the support shaft mounting seat 43 is provided with a support shaft mounting hole C.

[0026] The connection mode of the large arm 1 and the rotating seat 4 is that the connecting part of the large arm is inserted into the mounting slot of the rotating seat 4, one end of the support shaft A9 is installed in the support shaft mounting hole A13 of the large arm 1 through a bearing and is rotationally connected with the large arm, the other end of the support shaft A9 is inserted into the support shaft mounting hole B41 of the rotating seat 4 and is fixedly connected with the rotating seat, two RV speed reducers 2 are symmetrically installed in the two speed reducer mounting holes 12 of the large arm 1, the output end of the speed reducer is fixedly connected with the large arm 1 through a screw, the input end of the speed reducer extends into the speed reducer mounting hole 42 of the rotating seat 4 and is fixedly connected with the rotating seat 4 through a connecting plate. The large arm 1 and the rotating seat 4 are rotationally connected through two support points of the RV speed reducer 2 and the support shaft A9.

[0027] The two servo motors 3 are symmetrically installed on the left and right sides of the rotating seat 4 through a motor mounting plate and two shaft heads, the motor shaft extends into the speed reducer mounting hole 42 of the rotating seat 4, the shaft end is provided with an input gear A7, the speed reducer input end is provided with an input gear B6, and the input gear A7 is engaged with the input gear B6, so as to realize the movement of the large arm 1 driven by the servo motor 3.

[0028] The two RV speed reducers and the two servo motors 3 are arranged on the two sides of the symmetric large arm 1, the control of the rotation speed and the torque of the two motors is consistent in actual movement, and the effect of synchronous driving of the large arm by the double-motor and double-speed reducer is realized.

[0029] The two nitrogen tension cylinders 5 are symmetrically installed in the two mounting slots of the rotating seat 4, one end thereof is hinged with the large arm 1 through a support shaft B8 installed in a tension cylinder mounting seat 11, the other end thereof is hinged with the rotating seat 4 through a support shaft C installed in a support shaft mounting seat 43, and the two nitrogen tension cylinders 5 have the same inflation pressure, so as to ensure that the same balance torque is formed on the large arm.

[0030] The above merely is preferred implementation manner of the present application, it should be pointed out, for ordinary skilled person in the technical field, on the premise of not departing from the principle of the present application, can also make several improvements and refinements, these improvements and refinements are also within the protection scope of the present application.

Claims

1. A heavy duty industrial robot double drive joint drive structure, characterized in that, The application relates to a large arm (1) comprising a symmetrical structure, two RV reducers (2), two servo motors (3), a symmetrical structure of a rotating seat (4) and two nitrogen tension cylinders (5), the two RV reducers (2) and the two servo motors (3) are symmetrically arranged on the two sides of the large arm (1), the large arm (1) is rotationally connected with the rotating seat (4) through the RV reducer (2), the servo motor (3) drives the large arm (1) to rotate around the J2 axis through the RV reducer (2), and the two nitrogen tension cylinders (5) are symmetrically arranged on the two sides of the rotating seat (4) and are hingedly connected with the large arm (1) and the rotating seat (4) at two ends.

2. A dual drive joint structure for a heavy duty industrial robot according to claim 1, characterized in that, A support shaft A (9) is arranged between the large arm (1) and the rotating seat (4), and the large arm (1) is rotationally connected with the rotating seat (4) through the RV reducer (2) and the support shaft A (9).

3. A dual drive joint structure of a heavy duty industrial robot according to claim 1 or claim, characterized in that, The output end of the RV reducer (2) is fixedly connected with the large arm (1), the input end of the RV reducer (2) is fixedly connected with the rotating seat (4), and the servo motor (3) is connected with the RV reducer (2) through a gear.

4. The dual drive joint structure of a heavy duty industrial robot according to claim 1 or 2, characterized in that, One end of the nitrogen tension cylinder (5) is hingedly connected with the large arm (1) through a support shaft B (8), and the other end is hingedly connected with the rotating seat (4) through a support shaft C.

5. A heavy duty industrial robot double transmission joint drive structure according to claim 2, characterized in that, The central position of one end of the large arm (1) connected with the rotating seat is provided with a U-shaped opening, the U-shaped opening divides the large arm end into two symmetrical connecting portions, a tension cylinder mounting seat (11) is arranged on the front side of the connecting portion, and a reducer mounting hole (12) and a support shaft mounting hole A (13) are arranged in the connecting portion.

6. A heavy duty industrial robot double drive joint structure according to claim 5, characterized in that, Two mounting grooves are symmetrically arranged on the rotating seat (4), an outer side wall of one end of the mounting groove is provided with a reducer mounting hole (42), an inner side wall is provided with a support shaft mounting hole B (41), the axis of the reducer mounting hole (42) coincides with that of the support shaft mounting hole B (41), and the J2 axis line of the rotation of the large arm around the rotating seat is formed.

7. A heavy duty industrial robot double drive joint structure according to claim 6, characterized in that, The large arm connecting portion is inserted into the mounting groove of the rotating seat (4), one end of the support shaft A (9) is arranged in the support shaft mounting hole A (13) of the large arm (1) through a bearing and rotationally connected with the large arm, and the other end of the support shaft A (9) is inserted into the support shaft mounting hole B (41) of the rotating seat (4) and fixedly connected with the rotating seat (4).

8. A heavy duty industrial robot double drive joint structure according to claim 7, characterized in that, The two RV reducers (2) are symmetrically arranged in the two reducer mounting holes (12) of the large arm (1), the output end of the reducer is fixedly connected with the large arm (1) through screws, the input end of the reducer is inserted into the reducer mounting hole (42) of the rotating seat (4) and fixedly connected with the rotating seat (4) through a connecting plate.

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