Wrist structure and robot

Abstract

The embodiment of the utility model provides a wrist structure and a robot wherein the wrist structure comprises: a structure housing in which a first accommodating cavity, a transmission cavity and a wiring cavity are arranged; the fifth shaft motor is arranged in the first accommodating cavity; the fifth shaft speed reducer is assembled on the structural shell, and a first hollow structure communicated with the wiring cavity is arranged in the fifth shaft speed reducer; the sixth-axis motor is arranged outside the structural shell, the sixth-axis motor is arranged on the side, in the second direction, of the first containing cavity, and the sixth-axis motor is arranged on the side, in the first direction, of the fifth-axis speed reducer; and a part of the cable is located in the first hollow structure, a part of the cable is located in the wiring cavity, and a part of the cable is located in the first accommodating cavity. According to the technical scheme, the transmission cavity and the wiring cavity are integrally formed in the same side of the whole wrist structure, the diameter and occupied space of the whole wrist structure are reduced, and the installation space of a tail end tool connected with a sixth-axis motor is increased.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, a wrist structure and robot. BACKGROUND

[0002] At present, the research and production of robots have the trend of miniaturization, and the motor at the wrist joint of the robot is usually placed in front, thereby reducing the number of corresponding support structures or other components, in the related art, the wrist structure of the front motor is too large in the circumferential direction, which limits the installation and use of the end tool. SUMMARY

[0003] The utility model aims at least solves the technical problem that the robot wrist motor front placement leads to the size of the circumferential direction being too large in prior art or related art.

[0004] Therefore, the utility model provides a wrist structure in a first aspect of embodiments.

[0005] The utility model provides a robot in a second aspect of embodiments.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a wrist structure, comprising: a structure shell, a first accommodating cavity, a transmission cavity and a wiring cavity are arranged in the structure shell, wherein the first accommodating cavity and the wiring cavity are respectively located on both sides of the transmission cavity in a first direction, and a transmission mechanism is arranged in the transmission cavity; a fifth shaft motor is arranged in the first accommodating cavity, and one end of the fifth shaft motor is connected with the transmission mechanism; a fifth shaft speed reducer is assembled to the structure shell, and the fifth shaft speed reducer is connected with the transmission mechanism, and a first hollow structure is arranged in the fifth shaft speed reducer and connected with the wiring cavity; a sixth shaft motor is arranged outside the structure shell, and the sixth shaft motor is arranged on one side of the first accommodating cavity in a second direction, and the sixth shaft motor is arranged on one side of the fifth shaft speed reducer in the first direction; a cable is connected with the fifth shaft motor at one end, and connected with the sixth shaft motor at the other end, and part of the cable is arranged in the first hollow structure, part of the cable is arranged in the wiring cavity, and part of the cable is arranged in the first accommodating cavity.

[0007] According to the wrist structure, the first accommodating cavity for accommodating the fifth shaft motor is arranged in the structure shell, the transmission cavity and the wiring cavity are sequentially arranged on one side of the first accommodating cavity, the transmission mechanism connected with the fifth shaft motor is arranged in the transmission cavity, and the cable is arranged in the wiring cavity, so that the transmission cavity and the wiring cavity are arranged on the same side of the whole wrist structure, the diameter and the occupied space of the whole wrist structure are reduced, and the space for installing the end tool connected with the sixth shaft motor is increased.

[0008] Specifically, the structural shell serves as a support and protective shell for the entire wrist structure, and the first accommodating cavity, transmission cavity and cable cavity arranged inside provide installation space for various components, allowing them to be reasonably laid out without interfering with each other. The first accommodating cavity is located on one side of the transmission cavity in the first direction and is used to install the fifth-axis motor, providing a fixed position for the motor to ensure stable operation. The transmission cavity is located inside the structural shell and is used to install the transmission mechanism. The transmission mechanism transmits power between the fifth-axis motor and the fifth-axis speed reducer, achieving energy conversion and transmission. The cable cavity is located on the other side of the transmission cavity in the first direction and is used to arrange cables. It provides a dedicated channel for the cables to connect various components in an orderly manner while avoiding interference with other components.

[0009] The fifth-axis motor is installed in the first accommodating cavity and serves as a power source. One end of the motor is in transmission connection with the transmission mechanism to convert electrical energy into mechanical energy and transmit power to the fifth-axis speed reducer through the transmission mechanism.

[0010] It should be emphasized that in this scheme, the cable is directly passed through the fifth-axis speed reducer, significantly reducing the space occupied by the overall fifth-axis structure, allowing more space to be utilized relative to double-sided support, and making assembly and maintenance more convenient.

[0011] By arranging the sixth-axis motor outside the structural shell on the side of the first accommodating cavity in the second direction and on the side of the fifth-axis speed reducer in the first direction, the structures related to the fifth-axis joint can be arranged on one side of the sixth-axis motor, which can increase the space that the tool connected to the sixth-axis motor can move. The sixth-axis motor serves as another power source and is connected to the fifth-axis motor through a cable to jointly complete the action control of the robot.

[0012] One end of the cable is connected to the fifth-axis motor, and the other end is connected to the sixth-axis motor. Part of the cable is located in the first hollow structure, part is located in the cable cavity, and part is located in the first accommodating cavity. Such a layout allows the cable to safely and stably connect the two motors, ensuring that power and signal transmission are not disturbed.

[0013] The first direction is the front-to-back direction of the wrist structure, and the second direction is the left-to-right direction of the wrist structure.

[0014] In some embodiments, the structural shell comprises: a structural body, the first end face of one side of the structural body in the first direction is provided with a first assembly opening, and the second end face of the other side of the structural body in the first direction is provided with a second assembly opening and a third assembly opening; a first cover plate, which is detachably connected with the first assembly opening, and forms a first accommodating cavity after being connected with the first assembly opening; a second cover plate, which is detachably connected with the second assembly opening, and forms a transmission cavity after being connected with the second assembly opening; and a third cover plate, which is detachably connected with the third assembly opening, and forms a cabling cavity after being connected with the third assembly opening.

[0015] In this embodiment, the structural shell mainly comprises a structural body and a first cover plate, a second cover plate and a third cover plate, wherein there are two opposite end faces on the structural body, i.e. a first end face and a second end face on both sides in the first direction, the first end face is provided with a first assembly opening, and the second end face is provided with a second assembly opening and a third assembly opening at the same time, and each assembly opening is detachably connected with a corresponding cover plate to form an internal functional cavity.

[0016] Specifically, the first cover plate is detachably connected with the first assembly opening to form a first accommodating cavity for mounting the fifth-axis motor. The second cover plate is detachably connected with the second assembly opening to form a transmission cavity for providing mounting space for the transmission mechanism. The third cover plate is detachably connected with the third assembly opening to form a cabling cavity for providing a special channel for the cable.

[0017] It can be understood that by forming different functional cavities in the structural body, especially by arranging the transmission cavity and the cabling cavity on the same side of the structural body, the space utilization can be greatly improved, the overall diameter and occupied space of the wrist structure can be reduced, and the space for mounting the end tool connected with the sixth-axis motor can be increased.

[0018] In some embodiments, the projection of the third cover plate on the second end face covers the projection of the second cover plate on the second end face.

[0019] In this embodiment, by limiting the projection covering relationship between the third cover plate and the second cover plate, i.e. the projection of the third cover plate on the second end face covers the projection of the second cover plate on the second end face, the cabling cavity is relatively more outward in the layout of the structural shell, and the transmission cavity is relatively more inward, which is more convenient for ensuring the transmission relationship between the transmission mechanism and the fifth-axis motor, and also makes the cable cabling outward to reduce the influence on the internal transmission mechanism.

[0020] In addition, by arranging the transmission cavity at a relatively inward position, the cabling cavity on the outside can protect the transmission cavity to a certain extent, reduce the influence of external factors on the transmission mechanism. At the same time, the position of the cabling cavity is more clear and concentrated, which is convenient for the neat arrangement and management of the cable, reduces the risk of cable disorder and entanglement, and improves the reliability and maintainability of the cable.

[0021] It can be understood that the above layout can better utilize the space of the structural shell, make the layout of each part more reasonable, and reduce space waste.

[0022] In some technical solutions, optionally, a first sealing member is arranged between the second cover plate and the second assembly opening; the second cover plate is connected to the second assembly opening, and the transmission cavity is filled with lubricating oil.

[0023] In this technical solution, the first sealing member arranged between the second cover plate and the second assembly opening can effectively prevent the lubricating oil in the transmission cavity from leaking. It ensures that the lubricating oil can fully play a lubricating role in the transmission cavity, reduces the wear of the transmission mechanism, and improves the transmission efficiency and service life.

[0024] It should be emphasized that through good sealing, the oil amount of the lubricating oil in the transmission cavity is stable, so that the transmission mechanism can be continuously and stably lubricated during the working process, thereby improving the stability and precision of the transmission.

[0025] When the second cover plate is connected to the second assembly opening, and the transmission cavity is filled with lubricating oil, the presence of the first sealing member can ensure that the lubricating oil does not leak from the connection between the second cover plate and the second assembly opening, and at the same time prevent foreign matter from entering the transmission cavity, thereby ensuring the normal operation and good working performance of the transmission mechanism.

[0026] Of course, under the action of the first sealing member, foreign matter can also be prevented from entering the transmission cavity, avoiding contamination of the lubricating oil, thereby maintaining the good lubricating performance of the lubricating oil.

[0027] In some technical solutions, optionally, a fixing member is arranged on the inner wall of at least one of the first accommodating cavity, the cabling cavity and the first hollow structure, and the fixing member is used to fix the cable.

[0028] In this technical solution, by arranging the fixing member on the inner wall of the space through which the cable passes, i.e., on the inner wall of at least one of the first accommodating cavity, the cabling cavity and the first hollow structure, the cable can be prevented from moving randomly in the cavity, avoiding damage to the cable due to shaking, friction, etc., and improving the stability and reliability of the cable.

[0029] Of course, under the action of the fixing member, the cable can be arranged neatly according to the design requirements, avoiding chaotic winding of the cable, optimizing the utilization of the internal space, and facilitating subsequent maintenance and repair work. In addition, it also reduces the stress suffered by the cable during movement, reduces the risk of fatigue damage of the cable, and prolongs the service life of the cable.

[0030] In some technical solutions, the fixing member is arranged on the side of the second cover plate away from the transmission cavity; and / or the fixing member is arranged on the side of the third cover plate facing the transmission cavity.

[0031] In this technical solution, the position of the fixing member is further limited, wherein when the fixing member is arranged on the side of the second cover plate away from the transmission cavity, the cable can be prevented from being close to the transmission cavity, the potential interference with the operation of the transmission mechanism is reduced, the space outside the second cover plate is reasonably utilized, the layout of the cable is more compact, and the overall space utilization is improved.

[0032] When the fixing member is arranged on the side of the third cover plate facing the transmission cavity, it is helpful to keep the cable stable in the routing cavity and prevent the cable from shaking or shifting in the cavity, so as to reduce the friction and collision between the cable and other components and reduce the risk of cable damage.

[0033] In summary, arranging the fixing member on the side of the second cover plate away from the transmission cavity and / or on the side of the third cover plate facing the transmission cavity can better fix the cable, improve the stability and safety of the cable, and optimize the space layout inside the wrist structure.

[0034] In some technical solutions, optionally, the wrist structure further comprises: a first wire passing hole and a second wire passing hole arranged on the structure shell, and the first wire passing hole and the second wire passing hole are located on the two sides of the second assembly opening in the second direction; wherein part of the first hollow structure is located in the second wire passing hole, the first wire passing hole communicates the first containing cavity and the transmission cavity, and the second wire passing hole communicates the transmission cavity and the first hollow structure.

[0035] In this technical solution, by arranging the first wire passing hole and the second wire passing hole on the structure shell, under the action of the first wire passing hole, the first containing cavity and the transmission cavity are communicated, so that the cable of the fifth shaft motor can enter the transmission cavity through the wire passing hole. Similarly, under the action of the second wire passing hole, the transmission cavity and the first hollow structure are communicated, and part of the first hollow structure is located in the second wire passing hole, so that the cable can smoothly enter the hollow structure of the fifth shaft speed reducer from the transmission cavity to realize connection with the sixth shaft motor.

[0036] It should be emphasized that the first wire passing hole and the second wire passing hole are arranged on the two sides of the second assembly opening in the second direction, so as to minimize the length of the cable and optimize the wiring path of the cable on the basis of ensuring cable routing, thereby improving the compactness of the entire wrist structure.

[0037] In some technical solutions, optionally, the fifth shaft speed reducer and the first containing cavity are arranged on the same side of the transmission cavity in the first direction; and the sixth shaft motor is arranged on the side of the fifth shaft speed reducer away from the transmission cavity in the first direction.

[0038] In this technical solution, the relative position relationship of the fifth shaft speed reducer, the fifth shaft motor and the sixth shaft motor is mainly limited, so as to improve the miniaturization degree of the wrist structure as a whole.

[0039] Specifically, the fifth shaft speed reducer is arranged on the same side of the first accommodating cavity of the transmission cavity, so that the structure is more compact in the first direction, the space is effectively utilized, the overall volume is reduced, the transmission distance between the fifth shaft motor and the speed reducer is shortened, the energy loss in the transmission process is reduced, and the transmission efficiency is improved.

[0040] The sixth shaft motor is arranged on the side of the fifth shaft speed reducer away from the transmission cavity, so that the cable drawn out from the fifth shaft motor can be directly connected to the sixth shaft motor through the hollow structure of the fifth shaft speed reducer, the wiring of the cable is simplified, and the loss and interference of the cable are reduced.

[0041] It can be understood that such a layout makes the positions of various components relatively concentrated, which can facilitate operation during assembly and is convenient for later maintenance and repair, thereby reducing maintenance cost and time.

[0042] In some technical solutions, optionally, the driving shaft of the fifth shaft motor extends in the first direction, and the driving shaft of the sixth shaft motor extends in the second direction.

[0043] In this technical solution, the extension directions of the driving shafts of the fifth shaft motor and the sixth shaft motor are limited respectively, and specifically, the driving shaft of the fifth shaft motor extends in the first direction, and the driving shaft of the sixth shaft motor extends in the second direction, so that the robot wrist can move in two different directions, thereby increasing the flexibility and operability of the robot and being able to adapt to more complex work tasks and working environments.

[0044] The driving shafts of the two motors are in different directions, so that the space of the wrist part can be better utilized, and the problems of space crowding and interference caused by arranging multiple movement shafts in the same direction can be avoided.

[0045] In some technical solutions, optionally, the transmission mechanism specifically comprises: a first gear in transmission connection with the driving shaft of the fifth shaft motor; a second gear rotatably arranged on the structure shell and in meshing connection with the first gear; a third gear arranged on the side of the second gear away from the first gear and in meshing connection with the second gear; and the third gear is connected with the fifth shaft speed reducer.

[0046] In the technical scheme, the transmission mechanism adopts a gear transmission mode, specifically comprising a first gear, a second gear and a third gear, wherein the first gear is in transmission connection with a driving shaft of the fifth shaft motor to transmit power of the motor.

[0047] Embodiments of the second aspect of the application provide a robot, comprising: a small arm structure; and any of the wrist structures described above, connected to the small arm structure.

[0048] According to the robot provided by the application, the small arm structure mainly comprises a four-axis joint, and the operation flexibility of the robot can be improved by connecting the wrist structure to the small arm structure.

[0049] Since the robot comprises any of the wrist structures described above, the robot has the beneficial effects of any of the wrist structures described above, which will not be repeated here.

[0050] The robot includes but is not limited to industrial robots, small robots and other robots with wrist joint structures.

[0051] The additional aspects and advantages of the present application will become apparent in the following description, or can be understood by practicing the present application. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 A structure diagram of a wrist structure according to an embodiment of the present application is shown;

[0053] Figure 2 A structure diagram of a wrist structure according to an embodiment of the present application is shown; Figure 1 A structure diagram of a wrist structure according to an embodiment of the present application is shown;

[0054] Figure 3 A structure diagram of a wrist structure according to an embodiment of the present application is shown;

[0055] Figure 4 A structure diagram of a robot according to an embodiment of the present application is shown;

[0056] Figure 5 A structure diagram of a robot according to an embodiment of the present application is shown; Figure 4 A structure diagram of a robot according to an embodiment of the present application is shown;

[0057] Figure 6A structural schematic diagram of a robot according to one embodiment of the present application is shown.

[0058] wherein, Figures 1 to 6 The correspondence between the reference signs and the component names in the drawings is as follows:

[0059] 100: wrist structure; 102: structural shell; 1022: first accommodating cavity; 1024: transmission cavity; 1026: wiring cavity; 1032: structural main body; 1034: first end face; 1036: second end face; 104: transmission mechanism; 1042: first gear; 1044: second gear; 1046: third gear; 106: fifth shaft motor; 108: fifth shaft speed reducer; 1082: first hollow structure; 110: sixth shaft motor; 112: cable; 1142: first assembly opening; 1144: second assembly opening; 1146: third assembly opening; 1162: first cover plate; 1164: second cover plate; 1166: third cover plate; 118: first sealing element; 120: fixing element; 1222: first wire passing hole; 1224: second wire passing hole; 1242: second sealing element; 1244: third sealing element;

[0060] 200: robot; 202: small arm structure. DETAILED DESCRIPTION

[0061] In order to more clearly understand the above objectives, features and advantages of the embodiments of the present application, the embodiments of the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0062] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, embodiments of the present application can also be practiced in other ways different from those described herein, therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0063] The following description refers to the accompanying drawings, which illustrate specific embodiments of the application. Figures 1 to 6 Some embodiments according to the present application are described below.

[0064] As Figure 1 and Figure 2As shown, this embodiment provides a wrist structure 100, including a structural housing 102, a fifth-axis motor 106, a fifth-axis reducer 108, a sixth-axis motor 110, and a cable 112. A first receiving cavity 1022 for accommodating the fifth-axis motor 106 is provided in the structural housing 102, and a transmission cavity 1024 and a cable routing cavity 1026 are sequentially provided on one side of the first receiving cavity 1022. A transmission mechanism 104 connected to the fifth-axis motor 106 is provided in the transmission cavity 1024, and the cable 112 is provided in the cable routing cavity 1026. Thus, the transmission cavity 1024 and the cable routing cavity 1026 are concentrated on the same side of the wrist structure 100, reducing the overall diameter and space occupied by the wrist structure 100, and increasing the space for installing the end tool connected to the sixth-axis motor 110.

[0065] Specifically, the structural housing 102 serves as the supporting and protective shell for the entire wrist structure 100. Its internal first receiving cavity 1022, transmission cavity 1024, and wiring cavity 1026 provide installation space for various components, allowing for a rational layout without interference. The first receiving cavity 1022, located on one side of the transmission cavity 1024 in the first direction, is used to install the fifth-axis motor 106, providing a fixed position for stable operation. The transmission cavity 1024, located inside the structural housing 102, is used to install the transmission mechanism 104. The transmission mechanism 104 transmits power between the fifth-axis motor 106 and the fifth-axis reducer 108, realizing energy conversion and transmission. The wiring cavity 1026, located on the other side of the transmission cavity 1024 in the first direction, is used to arrange the cable 112. A dedicated channel is provided for the cable 112, allowing it to connect to various components in an orderly manner while avoiding interference between the cable 112 and other components.

[0066] The fifth-axis motor 106 is installed in the first receiving cavity 1022 as a power source. One end of it is connected to the transmission mechanism 104 to convert electrical energy into mechanical energy and transmit the power to the fifth-axis reducer 108 through the transmission mechanism 104.

[0067] Among them, such as Figure 3 As shown, the part where the fifth axis motor 106 is connected to the transmission mechanism 104 is provided with a second sealing element 1242, which can be in the form of an oil seal to prevent the oil in the transmission cavity from leaking to other areas.

[0068] It should be emphasized that in this solution, the fifth-axis reducer 108 is mounted on the structural housing 102 and is connected to the transmission mechanism 104. It functions to reduce speed and increase torque, converting the high-speed, low-torque output of the fifth-axis motor 106 into a low-speed, high-torque output suitable for the work requirements. For example... Figure 4 and Figure 5As shown, the first hollow structure 1082 provided in the fifth shaft reducer 108 and connected with the wiring cavity 1026 provides a space for the cable 112 to pass through, so that the cable 112 can be connected to the sixth shaft motor 110 smoothly. Figure 2 As shown, the cable 112 can be directly passed through the fifth shaft reducer 108, so that the space occupied by the whole fifth shaft structure is significantly reduced, and more space can be used for the double-side support, and the assembly and maintenance are more convenient.

[0069] By arranging the sixth shaft motor 110 outside the structural shell 102, on the side of the first accommodating cavity 1022 in the second direction, and on the side of the fifth shaft reducer in the first direction, the structures related to the fifth shaft joint can be arranged on one side of the sixth shaft motor 110, so that the space in which the tool connected to the sixth shaft motor 110 can move is increased. It can be understood that the sixth shaft motor 110 serves as another power source and is connected with the fifth shaft motor 106 through the cable 112 to jointly complete the action control of the robot 200.

[0070] One end of the cable 112 is connected with the fifth shaft motor 106, and the other end is connected with the sixth shaft motor 110. Part of the cable 112 is in the first hollow structure 1082, part is in the wiring cavity 1026, and part is in the first accommodating cavity 1022. Such a layout enables the cable 112 to be safely and stably connected with the two motors, and ensures that the transmission of power and signals is not disturbed.

[0071] The first direction is the front-rear direction of the wrist structure 100, and the second direction is the left-right direction of the wrist structure 100.

[0072] In some embodiments, the structural shell 102 mainly includes a structural body 1032 and first, second and third cover plates 1162, 1164 and 1166. There are two opposite end faces on the structural body 1032, i.e., a first end face 1034 and a second end face 1036 on the two sides in the first direction. The first end face 1034 is provided with a first assembly opening 1142, and the second end face 1036 is provided with a second assembly opening 1144 and a third assembly opening 1146 at the same time. Each assembly opening is detachably connected with a corresponding cover plate, thereby forming an internal functional cavity.

[0073] Specifically, the first cover plate 1162 is detachably connected with the first assembly opening 1142 to form the first accommodating cavity 1022 for mounting the fifth shaft motor 106. The second cover plate 1164 is detachably connected with the second assembly opening 1144 to form the transmission cavity 1024 for providing mounting space for the transmission mechanism 104. The third cover plate 1166 is detachably connected with the third assembly opening 1146 to form the wiring cavity 1026 for providing a special passage for the cable 112.

[0074] It is understandable that by forming different functional chambers within the main body 1032, especially by setting the transmission chamber 1024 and the wiring chamber 1026 on the same side of the main body 1032, the space utilization rate can be greatly improved, the overall diameter and space occupied by the wrist structure 100 can be reduced, and the space for installing the end tool connected to the sixth axis motor 110 can be increased.

[0075] In some embodiments, the projection coverage relationship between the third cover plate 1166 and the second cover plate 1164 can be restricted, that is, the projection of the third cover plate 1166 on the second end face 1036 covers the projection of the second cover plate 1164 on the second end face 1036. The wiring cavity 1026 is relatively more outward in the layout of the structural housing 102, while the transmission cavity 1024 is relatively closer to the inside. This makes it easier to ensure the transmission relationship between the transmission mechanism 104 and the fifth axis motor 106, and also allows the cable 112 to be routed outward, reducing the impact on the internal transmission mechanism 104.

[0076] Furthermore, by positioning the transmission cavity 1024 relatively inward, the outer wiring cavity 1026 can provide some protection for the transmission cavity 1024, reducing the impact of external factors on the transmission mechanism 104. Simultaneously, it makes the location of the wiring cavity 1026 more clearly defined and concentrated, facilitating the neat arrangement and management of the cables 112, reducing the risk of cable 112 becoming tangled and improving the reliability and maintainability of the cables 112.

[0077] It is understandable that the above layout can make better use of the space of the structural shell 102, making the layout of each part more reasonable and reducing space waste.

[0078] In some embodiments, optionally, such as Figure 3 As shown, a first seal 118 is provided between the second cover plate 1164 and the second assembly port 1144 to effectively prevent lubricating oil leakage in the transmission cavity 1024. This ensures that the lubricating oil can fully exert its lubricating effect in the transmission cavity 1024, reducing wear on the transmission mechanism 104 and improving transmission efficiency and service life.

[0079] It is important to emphasize that a good seal ensures a stable supply of lubricating oil in the transmission cavity 1024, enabling the transmission mechanism 104 to receive continuous and stable lubrication during operation, thereby improving the stability and accuracy of the transmission.

[0080] When the second cover plate 1164 is connected to the second assembly opening 1144, and the transmission cavity 1024 is filled with lubricating oil, the presence of the first sealing member 118 can ensure that the lubricating oil does not leak from the connection between the second cover plate 1164 and the second assembly opening 1144, and at the same time prevent external impurities from entering the transmission cavity 1024, ensuring the normal operation and good working performance of the transmission mechanism 104.

[0081] Of course, under the action of the first sealing member 118, external impurities can also be prevented from entering the transmission cavity 1024, avoiding contamination of the lubricating oil, thereby maintaining the good lubricating performance of the lubricating oil.

[0082] In some embodiments, optionally, the fixing member 120 is arranged on the inner wall of the space through which the cable 112 passes, that is, arranged on the inner wall of at least one of the first accommodating cavity 1022, the wiring cavity 1026, and the first hollow structure 1082. This can prevent the cable 112 from moving randomly in the cavity, avoid damage to the cable 112 due to shaking, friction, etc., and improve the stability and reliability of the cable 112.

[0083] Of course, under the action of the fixing member 120, the cable 112 can be arranged neatly according to the design requirements, avoiding chaotic entanglement of the cable 112, optimizing the utilization of the internal space, and facilitating subsequent maintenance and repair work. In addition, it also reduces the stress suffered by the cable 112 during movement, reduces the risk of fatigue damage of the cable 112, and prolongs the service life of the cable 112.

[0084] In some embodiments, optionally, the position of the fixing member 120 is limited. When the fixing member 120 is arranged on the side of the second cover plate 1164 away from the transmission cavity 1024, the cable 112 can be prevented from being close to the transmission cavity 1024, reducing the potential interference with the operation of the transmission mechanism 104, reasonably utilizing the space on the outer side of the second cover plate 1164, and making the layout of the cable 112 more compact, thereby improving the overall space utilization.

[0085] When the fixing member 120 is arranged on the side of the third cover plate 1166 facing the transmission cavity 1024, it is helpful to keep the cable 112 stable in the wiring cavity 1026, avoid the cable 112 from shaking or shifting in the cavity, and reduce the risk of damage to the cable 112 due to friction and collision with other components.

[0086] In general, arranging the fixing member 120 on the side of the second cover plate 1164 away from the transmission cavity 1024 and / or on the side of the third cover plate 1166 facing the transmission cavity 1024 can better fix the cable 112, improve the stability and safety of the cable 112, and at the same time optimize the space layout inside the wrist structure 100.

[0087] In some embodiments, the first wire hole 1222 and the second wire hole 1224 are optionally arranged on the structural housing 102. The first accommodating cavity 1022 and the transmission cavity 1024 are communicated under the action of the first wire hole 1222, so that the cable 112 of the fifth shaft motor 106 can enter the transmission cavity 1024 through the wire hole. Similarly, the transmission cavity 1024 and the first hollow structure 1082 are communicated under the action of the second wire hole 1224, and part of the first hollow structure 1082 is located in the second wire hole 1224, so that the cable 112 can smoothly enter the hollow structure of the fifth shaft speed reducer 108 from the transmission cavity 1024 to realize the connection with the sixth shaft motor 110.

[0088] It should be emphasized that the first wire hole 1222 and the second wire hole 1224 are arranged on both sides of the second assembly opening 1144 in the second direction, so as to minimize the length of the cable 112, and at the same time, on the basis of ensuring the wiring of the cable 112, the wiring path of the cable 112 is optimized, and the compactness of the entire wrist structure 100 is improved.

[0089] The second wire hole 1224 is sleeved with a third gear 1046, and the third gear 1046 is in transmission connection with the input end of the fifth shaft speed reducer 108. As shown in Figure 3 The third sealing member 1244 is arranged at the second wire hole 1224, so as to be arranged in the form of oil seal, so as to isolate the oil in the fifth shaft speed reducer 108 from contacting the cable 112, and ensure the cleanliness of the cable 112 itself.

[0090] In some embodiments, the relative position relationship of the fifth shaft speed reducer 108, the fifth shaft motor 106 and the sixth shaft motor 110 is limited, so as to improve the miniaturization degree of the entire wrist structure 100.

[0091] Specifically, the fifth shaft speed reducer 108 and the first accommodating cavity 1022 are arranged on the same side of the transmission cavity 1024, so that the structure is more compact in the first direction, the space is effectively utilized, the overall volume is reduced, the transmission distance between the fifth shaft motor 106 and the speed reducer is shortened, the energy loss in the transmission process is reduced, and the transmission efficiency is improved.

[0092] The sixth shaft motor 110 is arranged on the side of the fifth shaft speed reducer 108 away from the transmission cavity 1024, so that the cable 112 drawn out from the fifth shaft motor 106 can be more directly connected to the sixth shaft motor 110 through the hollow structure of the fifth shaft speed reducer 108, the wiring of the cable 112 is simplified, and the loss and interference of the cable 112 are reduced.

[0093] It can be understood that such a layout makes the positions of various components relatively concentrated, which can facilitate operation during assembly and maintenance and repair in later period, and reduces maintenance cost and time.

[0094] In some embodiments, optionally, the extension directions of the drive shafts of the fifth-axis motor 106 and the sixth-axis motor 110 are limited, specifically, the drive shaft of the fifth-axis motor 106 extends in a first direction, and the drive shaft of the sixth-axis motor 110 extends in a second direction, so that the wrist of the robot 200 can move in two different directions, thereby increasing the flexibility and operability of the robot 200, and being able to adapt to more complex work tasks and working environments.

[0095] The drive shafts of the two motors are in different directions, which can better utilize the space of the wrist part and avoid the problem of space congestion and interference caused by arranging multiple movement axes in the same direction.

[0096] In some embodiments, optionally, the transmission mechanism 104 adopts a gear transmission mode, specifically including a first gear 1042, a second gear 1044 and a third gear 1046, wherein the first gear 1042 is in transmission connection with the drive shaft of the fifth-axis motor 106 to transmit the power of the motor. In addition, the second gear 1044 is rotatably arranged on the structural shell 102 and is in meshing connection with the first gear 1042 to transmit the movement of the first gear 1042 to the third gear 1046. The second gear 1044 can be an idler gear. The third gear 1046 is arranged on the side of the second gear away from the first gear 1042 and is in meshing connection with the second gear and connected with the fifth-axis speed reducer 108 to transmit the power transmitted through the second gear to the fifth-axis speed reducer 108, and then the position of the sixth-axis motor 110 can be adjusted to improve the flexibility of the whole wrist structure 100.

[0097] As shown in FIG. 1, Figure 6 The embodiment of the second aspect of the present application provides a robot 200, which includes a connected forearm structure 202 and a wrist structure 100. The forearm structure 202 mainly includes a four-axis joint and can rotate in the direction of the arrow in the figure. By connecting the wrist structure 100 with the forearm structure 202, the operation flexibility of the robot 200 can be improved.

[0098] Since the robot 200 includes any of the above wrist structures 100, it has the beneficial effects of any of the above wrist structures 100, which are not repeated here.

[0099] The robot 200 includes but is not limited to industrial robots, small robots and other robots with wrist joint structures.

[0100] In one specific embodiment, a robot wrist structure 100 is provided, which can integrate the transmission mechanism of the fifth axis (i.e., transmission mechanism 104), the oil cavity (i.e., transmission cavity 1024), and the cable 112 on the same side of the wrist, and connect the cable 112 with the sixth axis motor 110 through a hollow speed reducer (i.e., fifth axis speed reducer 108). This structure can arrange the cable 112 and the transmission components without the need for bilateral support of the fifth axis, reduce the diameter and space occupied by the wrist, increase the space for mounting the end tool, and facilitate daily oil injection and drainage work and cable 112 inspection, improve the maintenance efficiency of the robot 200, and the wrist structure 100 is easy to assemble and has high reliability.

[0101] The wrist structure 100 includes a fifth axis motor 106, a gear z1 (i.e., first gear 1042), an input oil seal, an idler gear z2 (i.e., second gear 1044), a gear z3 (i.e., third gear 1046), a fifth axis speed reducer 108, a low-speed oil seal, an oil cavity cover plate (i.e., second cover plate 1164), a sealing ring (i.e., first sealing member 118), a wrist casting (i.e., structure shell 102), a cable 112, a cable cover plate (i.e., third cover plate 1166), a sixth axis motor 110, and a plug.

[0102] The fifth axis motor 106 is a power input structure, the gear z1 is installed on the motor, and the motor-gear assembly is integrally installed on the wrist casting. The input oil seal is a sealing assembly that contacts the oil cavity to ensure the sealing of the fifth axis motor 106 side. The idler gear z2 is a transmission component that meshes with the gear z1 and the gear z3, and adjusts the installation position of the fifth axis motor 106 and the speed reducer; the gear z3 is connected with the input side of the fifth axis speed reducer 108 to input power to the speed reducer.

[0103] The fifth axis speed reducer 108 is a hollow structure, and the hollow pipe (i.e., first hollow structure 1082) can be used to pass through the cable; the low-speed oil seal cooperates with the hollow pipe inside the speed reducer to avoid contact between the lubricating oil in the oil cavity of the speed reducer and the cable; the oil cavity cover plate is installed on the wrist casting to seal the oil cavity composed of the gears of the fifth axis and the speed reducer, and the sealing ring is used to ensure the sealing effect;

[0104] The cable passes through the outside of the oil cavity cover plate and the wrist casting from the side of the fifth axis motor, and finally connects with the sixth axis motor through the hollow pipe of the fifth axis speed reducer. The cable cover plate is installed on the wrist casting to protect the cable and facilitate disassembly and maintenance; the plug is installed on the wrist casting to facilitate oil injection and drainage of the oil cavity.

[0105] The above scheme solves the problems of large space occupation of the robot wrist, complex oil cavity structure, excessive installation parts and difficult maintenance, and the structure can integrate the transmission mechanism of the fifth shaft, the oil cavity and the cable on the same side of the wrist, and connect the cable with the sixth shaft motor through the hollow speed reducer. The structure can arrange the cable and the transmission components without bilateral support of the fifth shaft, reduce the diameter and space occupation of the wrist, increase the space for installing the end tool, facilitate daily oil injection and discharge work and cable inspection, improve the robot maintenance efficiency, and the wrist structure is simple to assemble and has high reliability.

[0106] The robot wrist part usually needs to arrange the fifth and sixth shaft speed reducers and motors, and needs to connect the cable with the fifth and sixth shaft motors. Usually, if the cable is placed at the back of the wrist, a complex gear structure is needed to connect the fifth and sixth shaft speed reducers in parallel, which affects the transmission accuracy, greatly increases the part cost and assembly difficulty, and has the risk of poor lubrication, abnormal noise and the like. If the sixth shaft motor is placed in front, the cable needs to pass through the A5 joint, and if bilateral support is used, the number of parts and the size in the circumferential direction of the wrist will be increased.

[0107] The present scheme places the fifth shaft speed reducer and the cable on the same side of the wrist, so that the space occupied by the fifth shaft structure is significantly reduced, and more space is available compared with bilateral support, and the assembly and maintenance are also more simple.

[0108] In addition, in the present embodiment, the z1, z2 and z3 gears in the wrist structure can not only use conventional straight tooth involute gears, but also can use helical involute gears, herringbone gears and other different forms of gears for the purpose of reducing noise and the like. At the same time, special designs on the gear structure are also included in the protection scope of the present application for the purpose of weight reduction and convenient assembly.

[0109] The speed reducer and transmission chain scheme in the present scheme can be applied to various structural forms of speed reducers commonly used in industrial robots, such as harmonic, cycloid, RV and planetary.

[0110] The oil cavity cover plate is not limited to the structure of a flat plate, but can also be reduced in cost and size by injection molding, casting and other forms according to the actual design.

[0111] According to the general technology in the field, some structures for fixing, guiding and lubricating the cable will be added during the process of the cable passing through the outside of the oil cavity cover plate and the hollow pipe of the speed reducer. The related accessory design and arrangement of the cable should be included in the protection scope of the present application.

[0112] In the scheme, the center of the idler z2 can be located on the same straight line as the gear z1 and the gear z3, and similarly, for reasons of gear backlash, structural limitations, etc., the line connecting the gear z1 and the idler z2 and the line connecting the idler z2 and the gear z3 can be arranged at an angle.

[0113] In the present application, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; the term "a plurality of" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, "connecting" can be fixed connection, can also be detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0114] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or units referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0115] In the description of the present application, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0116] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A wrist structure, characterized by, The wrist structure comprises a structure shell, a first accommodating cavity, a transmission cavity and a wire routing cavity are arranged in the structure shell, the first accommodating cavity and the wire routing cavity are respectively located on two sides of the transmission cavity in a first direction, and a transmission mechanism is arranged in the transmission cavity. A fifth shaft motor is arranged in the first accommodating cavity, and one end of the fifth shaft motor is in transmission connection with the transmission mechanism. A fifth shaft speed reducer is assembled in the structure shell, the fifth shaft speed reducer is in transmission connection with the transmission mechanism, and a first hollow structure in communication with the wire routing cavity is arranged in the fifth shaft speed reducer. A sixth shaft motor is arranged outside the structure shell, the sixth shaft motor is arranged on one side of the first accommodating cavity in a second direction, and the sixth shaft motor is arranged on one side of the fifth shaft speed reducer in the first direction. One end of a cable is connected with the fifth shaft motor, the other end of the cable is connected with the sixth shaft motor, and part of the cable is arranged in the first hollow structure, part of the cable is arranged in the wire routing cavity, and part of the cable is arranged in the first accommodating cavity. The structure shell specifically comprises:

2. The wrist structure of claim 1, wherein, A structure main body, a first end face on one side of the structure main body in the first direction is provided with a first assembly opening, and a second end face on the other side of the structure main body in the first direction is provided with a second assembly opening and a third assembly opening; A first cover plate is detachably connected with the first assembly opening, and the first cover plate and the first assembly opening form the first accommodating cavity after being connected; A second cover plate is detachably connected with the second assembly opening, and the second cover plate and the second assembly opening form the transmission cavity after being connected; A third cover plate is detachably connected with the third assembly opening, and the third cover plate and the third assembly opening form the wire routing cavity after being connected. The projection of the third cover plate on the second end face covers the projection of the second cover plate on the second end face.

3. The wrist structure of claim 2, wherein, Further comprising:

4. The wrist structure of claim 2, wherein, A first sealing element is arranged between the second cover plate and the second assembly opening; The second cover plate is connected into the second assembly opening, and the transmission cavity is filled with lubricating oil. Comprising:

5. The wrist structure of claim 2, wherein, A fixing element is arranged on an inner wall of at least one of the first accommodating cavity, the wire routing cavity and the first hollow structure, and the fixing element is used for fixing the cable.

6. The wrist structure according to claim 5, wherein The fixing element is arranged on one side of the second cover plate away from the transmission cavity; and / or The fixing element is arranged on one side of the third cover plate facing the transmission cavity. Further comprising:

7. The wrist structure according to any one of claims 2 to 6, characterized in that, First and second wire passing holes are arranged on the structure shell, and the first and second wire passing holes are located on two sides of the second assembly opening in the second direction; Part of the first hollow structure is located in the second wire passing hole, the first wire passing hole communicates the first accommodating cavity and the transmission cavity, and the second wire passing hole communicates the transmission cavity and the first hollow structure. The fifth shaft speed reducer and the first accommodating cavity are arranged on the same side of the transmission cavity in the first direction; 8. The wrist structure according to any one of claims 1 to 6, characterized in that, The sixth shaft motor is arranged on one side of the fifth shaft speed reducer away from the transmission cavity in the first direction. ​ 9. The wrist structure according to any one of claims 1 to 6, characterized in that, The driving shaft of the fifth shaft motor extends along the first direction, and the driving shaft of the sixth shaft motor extends along the second direction.

10. The wrist structure according to any one of claims 1 to 6, characterized in that, The transmission mechanism specifically comprises: a first gear in transmission connection with the driving shaft of the fifth shaft motor; a second gear rotatably arranged on the structural shell, and the second gear is in mesh with the first gear; a third gear arranged on the side of the second gear away from the first gear, and the third gear is in mesh with the second gear; wherein the third gear is connected with the fifth shaft speed reducer.

11. A robot, characterized in that comprises: an arm structure; the wrist structure according to any one of claims 1 to 10, connected with the arm structure.

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