Robot joint overturning moment enhancing structure

Abstract

The utility model discloses a robot joint overturning moment enhancing structure, which relates to the technical field of robots, and comprises a first shaft joint fixing piece, a second shaft joint rotating piece and a robot big arm, the first shaft joint fixing piece is fixed on an installation position, the bottom of the second shaft joint rotating piece is rotatably connected with the top of the first shaft joint fixing piece, and the second shaft joint fixing piece is fixed on the robot big arm. The two-shaft joint rotating piece is rotationally connected with the bottom of the robot big arm, a speed reducer is arranged on the top of the one-shaft joint fixing piece and located in the two-shaft joint rotating piece, the output end of the speed reducer is connected with the two-shaft joint rotating piece, the speed reducer is connected with a speed reducer main bearing, and a speed reducer casting shell is connected with a plane thrust bearing. And the plane thrust bearing is rotationally clamped with the biaxial joint rotating piece. According to the utility model, a group of plane thrust bearings are additionally arranged at the joint of the casting shell of the speed reducer and the joint, so that the supporting force of the speed reducer in the axial direction is increased, the axial load from the joint is effectively dispersed and borne, and the rigidity and the stability of the speed reducer are improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a structure for enhancing the overturning torque of a robot joint. Background Technology

[0002] With the development of the industrial robot industry and the advancement of technology, the requirements for robots are increasingly moving towards lighter body, greater load capacity, wider range of joint free angles, higher body rigidity, faster speed, and safer human-robot interaction.

[0003] Increasing the load capacity of industrial robot joints and overcoming insufficient overturning moment are challenges that manufacturers must address. The overturning moment of a robot joint refers to the torque acting on the joint, causing it to tilt or flip around its axis. This is commonly known as the overturning moment and is a crucial indicator for evaluating the stability and motion performance of robot joints. It affects factors such as joint load, motion speed, acceleration, and external forces.

[0004] Typically, the overturning moment of a robot joint depends on the load-bearing capacity of the reducer's main bearing. A problem arises in designs with long arms: when the robot is extended, the overturning moment received by a joint can cause it to tilt upwards at the center of the pivot point. To prevent this upward tilting during robot operation, a larger reducer is needed to counteract the reaction forces. However, the bearing diameter of the reducer is usually smaller than the overall diameter of the reducer. In most cases, the rotational torque on the reducer bearing is greater than the bending moment. Since the main bearing is close to the center pivot point, it experiences even greater stress, shortening the reducer's lifespan and affecting its stability. Therefore, a structure to enhance the overturning moment of a robot joint is urgently needed to solve this problem. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a structure for enhancing the overturning moment of a robot joint, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A robot joint overturning torque enhancement structure includes: a one-axis joint fixing component, a two-axis joint rotating component, and a robot arm. The one-axis joint fixing component is fixed in an installation position. The bottom of the two-axis joint rotating component is rotatably connected to the top of the one-axis joint fixing component. The two-axis joint rotating component is rotatably connected to the bottom of the robot arm. A reducer is provided on the top of the one-axis joint fixing component. The reducer is located inside the two-axis joint rotating component, and its output end is connected to the two-axis joint rotating component. The reducer is connected to the reducer main bearing. The reducer casting housing is connected to a planar thrust bearing. The planar thrust bearing is rotatably engaged with the two-axis joint rotating component.

[0008] As a further embodiment of this utility model, the length of the planar thrust bearing is less than the length of the main bearing of the reducer.

[0009] Compared with the prior art, the beneficial effects of this utility model are:

[0010] 1. Capable of withstanding high axial loads: Planar thrust bearings can withstand higher axial loads and have a larger load-bearing capacity, making them suitable for bearing large axial forces in reducers.

[0011] 2. Easy installation: Compared with other types of bearings, the length of the flat thrust bearing is smaller, which makes its installation in the reducer easier;

[0012] 3. Smooth operation and long service life: The planar thrust bearing has a simple structure, stable performance, smooth operation, and a long service life, which helps to reduce the maintenance cost of the reducer. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a robot joint overturning moment enhancement structure according to an embodiment of the present invention.

[0014] Figure 2 for Figure 1 A magnified schematic diagram of the structure at point A in the middle.

[0015] In the diagram: 1. One-axis joint fixing component; 2. Two-axis joint rotating component; 3. Robot arm; 4. Reducer; 5. Reducer main bearing; 6. Planar thrust bearing. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] In this embodiment of the utility model, please refer to Figure 1 and Figure 2 A robot joint overturning torque enhancement structure includes: a one-axis joint fixing component 1, a two-axis joint rotating component 2, and a robot arm 3. The one-axis joint fixing component 1 is fixed in an installation position. The bottom of the two-axis joint rotating component 2 is rotatably connected to the top of the one-axis joint fixing component 1, and the two-axis joint rotating component 2 is rotatably connected to the bottom of the robot arm 3. A reducer 4 is provided on the top of the one-axis joint fixing component 1. The reducer 4 is located inside the two-axis joint rotating component 2, and its output end is connected to the two-axis joint rotating component 2. The reducer 4 is connected to a reducer main bearing 5. The casting shell of the reducer 4 is connected to a planar thrust bearing 6, and the planar thrust bearing 6 is rotatably engaged with the two-axis joint rotating component 2. The length of the planar thrust bearing 6 is less than the length of the reducer main bearing 5.

[0018] The reducer 4 drives the two-axis joint rotating component 2 to rotate. When the robot arm 3 extends, the reducer main bearing 5 provides support force, enhancing the resistance to overturning moment. At the same time, the planar thrust bearing 6 increases the axial support force of the reducer 4. The support points of the planar thrust bearing 6 disperse the overturning moment, reducing the torque borne by each support point. More points work together to resist this overturning moment, reducing the pressure borne by a single point, effectively dispersing and bearing the axial load from the joint, and improving the rigidity and stability of the reducer 4.

[0019] The working principle of this invention is as follows: When the overturning moment of the main bearing of the reducer 4 is limited, the bearing support points are increased to enhance the bearing's resistance to the overturning moment. A set of planar thrust bearings 6 is added to the casting housing that fixes the reducer 4 at the joint junction, increasing the axial support force of the reducer 4, effectively dispersing and bearing the axial load from the joint, and improving the rigidity and stability of the reducer 4.

[0020] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0021] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot joint overturning moment reinforcement structure, comprising: One axis joint fixing piece, two axis joint rotating piece and robot big arm, the one axis joint fixing piece is fixed on the installation position, the two axis joint rotating piece bottom is connected with the one axis joint fixing piece top rotation, the two axis joint rotating piece is connected with robot big arm bottom rotation, its characterized in that, the one axis joint fixing piece top is equipped with speed reducer, the speed reducer is located inside two axis joint rotating piece, and the output end is connected with two axis joint rotating piece, the speed reducer is connected with speed reducer main bearing, the speed reducer casting housing is connected with plane thrust bearing, the plane thrust bearing is connected with two axis joint rotating piece rotation and is clamped.

2. The robot joint overturning moment reinforcing structure according to claim 1, characterized in that, The length of the plane thrust bearing is less than the length of the speed reducer main bearing.

Images