Wrist joint transmission and welding robot

Abstract

This invention provides a wrist joint transmission device and a welding robot, including an arm shell, a wrist shell, and an end flange. The wrist shell is rotatably disposed at one end of the arm shell, and the end flange is rotatably disposed at the wrist shell. The wrist joint transmission device further includes a first drive unit, a first multi-stage transmission mechanism, a second drive unit, and a second multi-stage transmission mechanism. The first drive unit drives the wrist shell to rotate through the first multi-stage transmission mechanism, and the second drive unit drives the end flange to rotate through the second multi-stage transmission mechanism. The first multi-stage transmission mechanism includes a hollow reducer, and the second multi-stage transmission mechanism includes a first drive shaft passing through the hollow reducer. In this design, the hollow reducer, while satisfying the speed reduction transmission requirements, further compacts the structure, reduces its overall volume, enables operation in confined spaces, and improves the robot's adaptability to complex environments.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a wrist joint transmission device and a welding robot. Background Technology

[0002] Six-degree-of-freedom (DOF) robots are among the most widely used robots on the market. The wrist joint structure of a six-axis robot typically needs to achieve relative rotation between the wrist and the arm, as well as relatively perpendicular rotation between the output part of the wrist and the arm. Current technology commonly employs a traditional double-support structure design. While this structure meets basic motion requirements to some extent, its large size and less compact overall layout significantly limit its application in complex environments, particularly its poor performance in confined spaces. Utility Model Content

[0003] This invention provides a wrist joint transmission device and a welding robot to solve the problem in the prior art where the loose design of the wrist joint structure results in a large overall robot size, which limits its application in complex environments.

[0004] To address the aforementioned problems, according to one aspect of this utility model, a wrist joint transmission device is provided, comprising an arm housing, a wrist housing, and an end flange. The wrist housing is rotatably disposed at one end of the arm housing, and the end flange is rotatably disposed on the wrist housing. The rotation axis of the end flange is perpendicular to the rotation axis of the wrist housing. The wrist joint transmission device further includes a first drive unit, a first multi-stage transmission mechanism, a second drive unit, and a second multi-stage transmission mechanism. The first drive unit drives the wrist housing to rotate via the first multi-stage transmission mechanism, and the second drive unit drives the end flange to rotate via the second multi-stage transmission mechanism. The first drive unit, the first multi-stage transmission mechanism, and the second drive unit are all installed inside the arm housing, and the second multi-stage transmission mechanism is distributed inside the arm housing and the wrist housing. The first multi-stage transmission mechanism includes a hollow reducer, and the second multi-stage transmission mechanism includes a first drive shaft passing through the hollow reducer.

[0005] Furthermore, the hollow reducer is a harmonic reducer, and the hollow reducer has an assembly through hole through which the first drive shaft passes; the second multi-stage transmission mechanism also includes a first limiting bushing, a first oil seal, and two first bearings, the two first bearings being spaced apart between the inner wall of the assembly through hole and the outer wall of the first drive shaft, the first limiting bushing being disposed between the two first bearings, and the first oil seal being disposed between the inner wall of the assembly through hole and the outer wall of the first drive shaft, with the first oil seal located at the end of the assembly through hole facing the wrist shell.

[0006] Furthermore, the first multi-stage transmission mechanism also includes a first transmission wheel, a second transmission wheel, and a first transmission belt. The first transmission wheel is mounted on the output shaft of the first drive unit, and the second transmission wheel is mounted on the input end of the hollow reducer. The first transmission belt, the first transmission wheel, and the second transmission wheel are all fitted together. The output end of the hollow reducer is fixedly connected to the wrist housing.

[0007] Furthermore, the second drive wheel has a hollow structure, the first drive shaft passes through the second drive wheel, and the inner walls of the first drive shaft and the second drive wheel are spaced apart.

[0008] Furthermore, both the first and second transmission wheels are synchronous pulleys, and the first transmission belt is a synchronous belt; the transmission ratio between the first and second transmission wheels is I1, and the transmission ratio between the input and output ends of the hollow reducer is I2, wherein I1 < I2.

[0009] Furthermore, the second multi-stage transmission mechanism also includes a third transmission wheel, a fourth transmission wheel, and a second transmission belt. The third transmission wheel is mounted on the output shaft of the second drive unit, and the fourth transmission wheel is mounted on the end of the first transmission shaft away from the wrist housing. The second transmission belt is engaged with the third and fourth transmission wheels.

[0010] Furthermore, the second multi-stage transmission mechanism also includes a second transmission shaft, a first gear, and a second gear. The second transmission shaft is mounted on the wrist housing and is perpendicular to the first transmission shaft. The first gear is disposed on the first transmission shaft, and the second gear is disposed on the second transmission shaft. The first gear and the second gear mesh.

[0011] Furthermore, the third and fourth transmission wheels are both synchronous pulleys, and the second transmission belt is a synchronous belt; the transmission ratio of the third and fourth transmission wheels is I3, and the transmission ratio of the first gear and the second gear is I4, wherein I3 < I4.

[0012] Furthermore, the second multi-stage transmission mechanism also includes a second transmission shaft, a first gear, a second gear, a third gear, and a fourth gear. The second transmission shaft is mounted on the wrist housing and is perpendicular to the first transmission shaft. The first gear is located on the first transmission shaft, and the second gear is located at one end of the second transmission shaft. The first gear and the second gear mesh. The third gear is located at the other end of the second transmission shaft, and the fourth gear is fixed to the end flange. The third gear and the fourth gear mesh.

[0013] Furthermore, the fourth gear has a ring structure, the transmission ratio of the first gear and the second gear is I4, and the transmission ratio of the third gear and the fourth gear is I5, where I4 < I5.

[0014] Furthermore, the first drive shaft and the first gear are integral structures, and the second drive shaft and the third gear are integral structures; the first gear and the second gear are both quasi-hypoid gears, and the third gear and the fourth gear are both helical gears; the second multi-stage transmission mechanism also includes a second limiting bushing and two second bearings, the two second bearings are disposed between the inner wall of the wrist shell and the second drive shaft, and the second limiting bushing is disposed between the two second bearings.

[0015] Furthermore, the arm housing has a mounting cavity, and both the first drive unit and the second drive unit are motors. Both the first drive unit and the second drive unit are installed in the mounting cavity, and the positions of the first drive unit and the second drive unit in the mounting cavity are adjustable.

[0016] Furthermore, the wrist housing includes a main housing, a first connecting ring, and a second connecting ring connected in sequence. The main housing is connected to the output end of the hollow reducer. The end flange is a hollow cylindrical structure that passes through the main housing, the first connecting ring, and the second connecting ring. The wrist housing also includes a third bearing and two second oil seals. The third bearing is fitted onto the end flange and is located between the first connecting ring and the second connecting ring. The two second oil seals are fitted onto both ends of the end flange, respectively.

[0017] According to another aspect of the present invention, a welding robot is provided, which includes a welding torch body and the aforementioned wrist joint transmission device, wherein the welding torch body is mounted on the end flange of the wrist joint transmission device.

[0018] In this design, the first drive unit and the second drive unit provide power for the rotation of the wrist shell and the end flange, respectively. The first drive unit, the first multi-stage transmission mechanism, and the second drive unit are all installed inside the arm shell, and the second multi-stage transmission mechanism is distributed inside the arm shell and the wrist shell, which improves the structural compactness and aesthetics of the device. At the same time, a hollow reducer is provided. While meeting the requirements of speed reduction transmission, its hollow design allows the first transmission shaft to pass through it, making the structure even more compact and greatly reducing the overall volume of the structure. This enables the robot to perform operations in confined spaces and improves its adaptability to complex environments. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic diagram of the wrist joint transmission device provided in an embodiment of the present invention is shown.

[0021] Figure 2 It shows Figure 1A schematic diagram of the internal structure of the wrist joint transmission device;

[0022] Figure 3 It shows Figure 2 A cross-sectional view of the BB position in the wrist joint transmission device;

[0023] Figure 4 It shows Figure 3 A partial enlarged view of the wrist joint transmission device.

[0024] The above figures include the following reference numerals:

[0025] 10. Arm casing; 11. Mounting cavity;

[0026] 20. Wrist shell; 21. Main shell; 22. First connecting ring; 23. Second connecting ring; 24. Third bearing; 25. Second oil seal;

[0027] 30. End flange;

[0028] 40. First drive unit;

[0029] 50. First multi-stage transmission mechanism; 51. Hollow reducer; 511. Assembly through hole;

[0030] 60. Second drive unit;

[0031] 70. Second multi-stage transmission mechanism; 71. First transmission shaft; 72. First limiting bushing; 73. First oil seal; 74. First bearing; 75. Second transmission shaft; 76. Second limiting bushing; 77. Second bearing;

[0032] 81. First drive pulley; 82. Second drive pulley; 83. Third drive pulley; 84. Fourth drive pulley; 85. First drive belt; 86. Second drive belt;

[0033] 91. First gear; 92. Second gear; 93. Third gear; 94. Fourth gear. Detailed Implementation

[0034] The technical solutions in at least one embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one embodiment is merely illustrative and is not intended to limit this application or its applications. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application.

[0035] like Figures 1 to 4As shown, an embodiment of this utility model provides a wrist joint transmission device, including an arm housing 10, a wrist housing 20, and an end flange 30. The wrist housing 20 is rotatably disposed at one end of the arm housing 10, and the end flange 30 is rotatably disposed on the wrist housing 20. The rotation axis of the end flange 30 is perpendicular to the rotation axis of the wrist housing 20. The wrist joint transmission device also includes a first drive unit 40, a first multi-stage transmission mechanism 50, a second drive unit 60, and a second multi-stage transmission mechanism 70. The first drive unit 40 drives the wrist housing 20 to rotate through the first multi-stage transmission mechanism 50, and the second drive unit 60 drives the end flange 30 to rotate through the second multi-stage transmission mechanism 70. The first drive unit 40, the first multi-stage transmission mechanism 50, and the second drive unit 60 are all installed inside the arm housing 10, and the second multi-stage transmission mechanism 70 is distributed inside the arm housing 10 and the wrist housing 20. The first multi-stage transmission mechanism 50 includes a hollow reducer 51, and the second multi-stage transmission mechanism 70 includes a first drive shaft 71, which passes through the hollow reducer 51.

[0036] In this design, the first drive unit 40 and the second drive unit 60 provide power for the rotation of the wrist housing 20 and the end flange 30, respectively. The first drive unit 40, the first multi-stage transmission mechanism 50, and the second drive unit 60 are all installed inside the arm housing 10, and the second multi-stage transmission mechanism 70 is distributed inside the arm housing 10 and the wrist housing 20, which improves the structural compactness and aesthetics of the device. At the same time, a hollow reducer 51 is provided. While meeting the requirements of speed reduction transmission, its hollow design allows the first transmission shaft 71 to pass through it, making the structure more compact and greatly reducing the overall volume of the structure. This enables the robot to perform operations in confined spaces and improves its adaptability to complex environments.

[0037] like Figure 3 and Figure 4 As shown, the hollow reducer 51 is a harmonic reducer. The hollow reducer 51 has a mounting through hole 511 through which the first drive shaft 71 passes. The second multi-stage transmission mechanism 70 also includes a first limiting bushing 72, a first oil seal 73, and two first bearings 74. The two first bearings 74 are spaced apart between the inner wall of the mounting through hole 511 and the outer wall of the first drive shaft 71. The first limiting bushing 72 is positioned between the two first bearings 74. The first oil seal 73 is positioned between the inner wall of the mounting through hole 511 and the outer wall of the first drive shaft 71, with the first oil seal 73 located at the end of the mounting through hole 511 facing the wrist housing 20. The hollow reducer 51 has a mounting through hole 511, which facilitates the fitting of device components and improves structural compactness. The first limiting bushing 72, the first oil seal 73, and the two first bearings 74 ensure the stability and sealing of the first drive shaft 71, preventing lubricant leakage and improving transmission efficiency and reliability.

[0038] like Figure 2 and Figure 4 As shown, the first multi-stage transmission mechanism 50 also includes a first transmission wheel 81, a second transmission wheel 82, and a first transmission belt 85. The first transmission wheel 81 is mounted on the output shaft of the first drive unit 40, and the second transmission wheel 82 is mounted on the input end of the hollow reducer 51. The first transmission belt 85 cooperates with both the first transmission wheel 81 and the second transmission wheel 82. The output end of the hollow reducer 51 is fixedly connected to the wrist housing 20. Through the cooperation of the first transmission wheel 81, the second transmission wheel 82, and the first transmission belt 85, a smooth power transmission from the first drive unit 40 to the hollow reducer 51 is achieved, improving the accuracy and stability of the transmission and reducing power loss.

[0039] In this embodiment, the second transmission wheel 82 is a hollow structure, and the first transmission shaft 71 passes through the second transmission wheel 82, with the inner walls of the first transmission shaft 71 and the second transmission wheel 82 spaced apart. The first transmission shaft 71 can pass through the hollow portion of the second transmission wheel 82, improving the structural compactness of the device, further reducing the overall structural volume, and expanding the applicable scenarios of the device. Furthermore, the spaced inner walls of the first transmission shaft 71 and the second transmission wheel 82 mean that they are only spatially connected to improve structural compactness, without direct contact or related movement. This arrangement effectively prevents friction and power loss between the two, achieving the independence of transmission between the first multi-stage transmission mechanism 50 and the second multi-stage transmission mechanism 70.

[0040] In this embodiment, both the first transmission wheel 81 and the second transmission wheel 82 are synchronous pulleys, and the first transmission belt 85 is a synchronous belt. The transmission ratio between the first transmission wheel 81 and the second transmission wheel 82 is I1, and the transmission ratio between the input and output ends of the hollow reducer 51 is I2, where I1 < I2. The use of synchronous pulleys and a synchronous belt ensures the accuracy and synchronization of the transmission. The transmission ratio between the input and output ends of the hollow reducer 51 is greater than the transmission ratio between the first transmission wheel 81 and the second transmission wheel 82, meaning the hollow reducer 51 further reduces the speed of the first-stage transmission, achieving smooth operation of the device and improving transmission stability. Furthermore, the reasonable allocation of the transmission ratio effectively reduces accumulated errors and improves the overall transmission accuracy.

[0041] In this embodiment, the second multi-stage transmission mechanism 70 further includes a third transmission wheel 83, a fourth transmission wheel 84, and a second transmission belt 86. The third transmission wheel 83 is mounted on the output shaft of the second drive unit 60, and the fourth transmission wheel 84 is mounted on the end of the first drive shaft 71 away from the wrist housing 20. The second transmission belt 86 cooperates with both the third transmission wheel 83 and the fourth transmission wheel 84. The second drive unit 60 drives the third transmission wheel 83 to rotate, and the third transmission wheel 83 drives the fourth transmission wheel 84 to rotate via the second transmission belt 86, thereby driving the first drive shaft 71 to generate power. Through the cooperation of the third transmission wheel 83, the fourth transmission wheel 84, and the second transmission belt 86, power transmission from the second drive unit 60 to the first drive shaft 71 is realized, thereby further driving the rotation of the end flange 30, improving the efficiency and stability of power transmission, and reducing power loss.

[0042] In this embodiment, the second multi-stage transmission mechanism 70 further includes a second transmission shaft 75, a first gear 91, and a second gear 92. The second transmission shaft 75 is mounted on the wrist housing 20 and is perpendicular to the first transmission shaft 71. The first gear 91 is disposed on the first transmission shaft 71, and the second gear 92 is disposed on the second transmission shaft 75. The first gear 91 and the second gear 92 mesh. This configuration converts rotation around the first transmission shaft 71 into rotation perpendicular to the first transmission shaft 71, achieving vertical rotation of the end flange 30, improving the rotational accuracy and stability of the end flange 30, reducing power loss, and increasing the operational flexibility of the device.

[0043] In this embodiment, the third transmission wheel 83 and the fourth transmission wheel 84 are both synchronous pulleys, and the second transmission belt 86 is a synchronous belt. The transmission ratio between the third transmission wheel 83 and the fourth transmission wheel 84 is I3, and the transmission ratio between the first gear 91 and the second gear 92 is I4, where I3 < I4. The use of synchronous pulleys and synchronous belts ensures the accuracy and synchronization of the transmission. The transmission ratio between the first gear 91 and the second gear 92 is greater than that between the third transmission wheel 83 and the fourth transmission wheel 84, meaning that the transmission between the first gear 91 and the second gear 92 further reduces the speed of the secondary transmission, achieving smooth operation of the device and improving transmission stability. The reasonable allocation of the transmission ratio effectively reduces accumulated errors, improves the overall transmission accuracy, and facilitates precise control of external actuators.

[0044] In this embodiment, the second multi-stage transmission mechanism 70 further includes a second transmission shaft 75, a first gear 91, a second gear 92, a third gear 93, and a fourth gear 94. The second transmission shaft 75 is mounted on the wrist housing 20 and is perpendicular to the first transmission shaft 71. The first gear 91 is disposed on the first transmission shaft 71, and the second gear 92 is disposed at one end of the second transmission shaft 75, with the first gear 91 and the second gear 92 meshing. The third gear 93 is disposed at the other end of the second transmission shaft 75, and the fourth gear 94 is fixed to the end flange 30, with the third gear 93 and the fourth gear 94 meshing. Through the multi-stage gear transmission of the first gear 91, the second gear 92, the third gear 93, and the fourth gear 94, smooth power transmission from the second drive unit 60 to the end flange 30 is achieved, improving the efficiency and stability of power transmission, reducing power loss, and improving the accuracy and flexibility of transmission through the combination of multi-stage gears.

[0045] In this embodiment, the fourth gear 94 is a ring structure. The transmission ratio of the first gear 91 and the second gear 92 is I4, and the transmission ratio of the third gear 93 and the fourth gear 94 is I5, where I4 < I5. The transmission ratio of the third gear 93 and the fourth gear 94 is greater than that of the first gear 91 and the second gear 92. That is, the transmission between the third gear 93 and the fourth gear 94 further reduces the speed of the secondary transmission, realizing the smooth operation of the device, improving the stability of the transmission, increasing the rotation range and flexibility of the end flange 30, reducing power loss, and the reasonable distribution of the transmission ratio effectively reduces the cumulative error, improves the overall transmission accuracy, and facilitates precise control of external actuators.

[0046] like Figure 4 As shown, the first drive shaft 71 and the first gear 91 are an integral structure, as are the second drive shaft 75 and the third gear 93. The first gear 91 and the second gear 92 are both hypoid gears, while the third gear 93 and the fourth gear 94 are both helical gears. The second multi-stage transmission mechanism 70 also includes a second limiting bushing 76 and two second bearings 77. The two second bearings 77 are disposed between the inner wall of the wrist housing 20 and the second drive shaft 75, and the second limiting bushing 76 is disposed between the two second bearings 77. Through the integral structure of the first drive shaft 71 and the first gear 91, the second drive shaft 75 and the third gear 93, and the combination of hypoid gears and helical gears, high-precision and high-efficiency transmission is achieved. The configuration of the second limiting bushing 76 and the second bearings 77 ensures the stability of the second drive shaft 75, improves transmission efficiency and reliability, and enhances the accuracy of the device.

[0047] In this embodiment, the arm housing 10 has a mounting cavity 11. Both the first drive unit 40 and the second drive unit 60 are motors, and both are installed within the mounting cavity 11. The positions of the first drive unit 40 and the second drive unit 60 within the mounting cavity 11 are adjustable. The installation of both the first drive unit 40 and the second drive unit 60 within the mounting cavity 11 improves the compactness and aesthetics of the device structure, reduces the device size, expands its applicable scenarios, and enables the device to be used in confined spaces. The adjustable positions of the first drive unit 40 and the second drive unit 60 within the mounting cavity 11 also allow for adaptive adjustment of the tension of the corresponding conveyor belt, improving the flexibility and adaptability of the device.

[0048] like Figure 4 As shown, the wrist housing 20 includes a main housing 21, a first connecting ring 22, and a second connecting ring 23 connected in sequence. The main housing 21 is connected to the output end of the hollow reducer 51. The end flange 30 is a hollow cylindrical structure that passes through the main housing 21, the first connecting ring 22, and the second connecting ring 23. The wrist housing 20 also includes a third bearing 24 and two second oil seals 25. The third bearing 24 is fitted onto the end flange 30 and is positioned between the first connecting ring 22 and the second connecting ring 23. The two second oil seals 25 are respectively fitted onto both ends of the end flange 30. The hollow end flange 30 provides a smooth passage for cables and pipes, improving the flexibility and adaptability of the device. Simultaneously, the hollow design reduces interference from cables and pipes, improving the reliability and safety of the device. Furthermore, this configuration ensures stable rotation and sealing of the end flange 30, preventing the intrusion of external impurities and leakage of lubricating oil, improving transmission efficiency and reliability, and extending service life.

[0049] This utility model also provides a welding robot, which includes a welding torch body and the aforementioned wrist joint transmission device. The welding torch body is mounted on the end flange 30 of the wrist joint transmission device. The hollow end flange 30 provides a smooth passage for cables and pipes, improving the flexibility and adaptability of the device. Simultaneously, the hollow design reduces interference from cables and pipes, solving the problem that traditional structures cannot effectively enclose welding torch cables, air pipes, and other auxiliary cables, making them susceptible to external damage during operation and posing safety hazards. This also addresses the issue of insufficient cable and pipe protection, thus improving the reliability and safety of the device. Furthermore, the hollow reducer 51, while satisfying the need for speed reduction, allows the first transmission shaft 71 to pass through it, further compacting the structure and significantly reducing its overall volume. This enables operation in confined spaces, improving welding flexibility and range of motion, enhancing the robot's adaptability to complex environments, and solving the problem of difficulty in meeting welding requirements under complex working conditions.

[0050] The above descriptions are merely some embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary only and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0053] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0054] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0055] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

Claims

1. A wrist joint transmission device, comprising an arm housing (10), a wrist housing (20), and an end flange (30), wherein the wrist housing (20) is rotatably disposed at one end of the arm housing (10), and the end flange (30) is rotatably disposed on the wrist housing (20), wherein the rotation axis of the end flange (30) is perpendicular to the rotation axis of the wrist housing (20), characterized in that, The wrist joint transmission device further includes a first drive unit (40), a first multi-stage transmission mechanism (50), a second drive unit (60), and a second multi-stage transmission mechanism (70). The first drive unit (40) drives the wrist shell (20) to rotate through the first multi-stage transmission mechanism (50), and the second drive unit (60) drives the end flange (30) to rotate through the second multi-stage transmission mechanism (70). The first drive unit (40), the first multi-stage transmission mechanism (50), and the second drive unit (60) are all installed inside the arm shell (10), and the second multi-stage transmission mechanism (70) is distributed inside the arm shell (10) and the wrist shell (20). The first multi-stage transmission mechanism (50) includes a hollow reducer (51), and the second multi-stage transmission mechanism (70) includes a first drive shaft (71), which passes through the hollow reducer (51).

2. The wrist joint transmission device according to claim 1, characterized in that, The hollow reducer (51) is a harmonic reducer. The hollow reducer (51) has an assembly through hole (511). The first drive shaft (71) passes through the assembly through hole (511). The second multi-stage transmission mechanism (70) also includes a first limiting bushing (72), a first oil seal (73), and two first bearings (74). The two first bearings (74) are spaced apart between the inner wall of the assembly through hole (511) and the outer wall of the first drive shaft (71). The first limiting bushing (72) is located between the two first bearings (74). The first oil seal (73) is located between the inner wall of the assembly through hole (511) and the outer wall of the first drive shaft (71). The first oil seal (73) is located at the end of the assembly through hole (511) facing the wrist shell (20).

3. The wrist joint transmission device according to claim 1, characterized in that, The first multi-stage transmission mechanism (50) further includes a first transmission wheel (81), a second transmission wheel (82), and a first transmission belt (85). The first transmission wheel (81) is mounted on the output shaft of the first drive unit (40), and the second transmission wheel (82) is mounted on the input end of the hollow reducer (51). The first transmission belt (85) and the first transmission wheel (81) and the second transmission wheel (82) are all in cooperation. The output end of the hollow reducer (51) is fixedly connected to the wrist shell (20).

4. The wrist joint transmission device according to claim 3, characterized in that, The second transmission wheel (82) has a hollow structure, the first transmission shaft (71) passes through the second transmission wheel (82), and the inner walls of the first transmission shaft (71) and the second transmission wheel (82) are spaced apart.

5. The wrist joint transmission device according to claim 3, characterized in that, The first transmission wheel (81) and the second transmission wheel (82) are both synchronous pulleys, and the first transmission belt (85) is a synchronous belt; the transmission ratio of the first transmission wheel (81) and the second transmission wheel (82) is I1, and the transmission ratio of the input end and the output end of the hollow reducer (51) is I2, wherein I1 < I2.

6. The wrist joint transmission device according to claim 1, characterized in that, The second multi-stage transmission mechanism (70) further includes a third transmission wheel (83), a fourth transmission wheel (84), and a second transmission belt (86). The third transmission wheel (83) is mounted on the output shaft of the second drive unit (60), and the fourth transmission wheel (84) is mounted on the end of the first transmission shaft (71) away from the wrist shell (20). The second transmission belt (86) and the third transmission wheel (83) and the fourth transmission wheel (84) are all in cooperation.

7. The wrist joint transmission device according to claim 6, characterized in that, The second multi-stage transmission mechanism (70) further includes a second transmission shaft (75), a first gear (91) and a second gear (92). The second transmission shaft (75) is mounted on the wrist housing (20) and is perpendicular to the first transmission shaft (71). The first gear (91) is disposed on the first transmission shaft (71) and the second gear (92) is disposed on the second transmission shaft (75). The first gear (91) and the second gear (92) mesh.

8. The wrist joint transmission device according to claim 7, characterized in that, The third transmission wheel (83) and the fourth transmission wheel (84) are both synchronous pulleys, and the second transmission belt (86) is a synchronous belt; the transmission ratio of the third transmission wheel (83) and the fourth transmission wheel (84) is I3, and the transmission ratio of the first gear (91) and the second gear (92) is I4, wherein I3 < I4.

9. The wrist joint transmission device according to claim 1, characterized in that, The second multi-stage transmission mechanism (70) further includes a second transmission shaft (75), a first gear (91), a second gear (92), a third gear (93), and a fourth gear (94). The second transmission shaft (75) is mounted on the wrist housing (20) and is perpendicular to the first transmission shaft (71). The first gear (91) is disposed on the first transmission shaft (71), and the second gear (92) is disposed at one end of the second transmission shaft (75). The first gear (91) and the second gear (92) mesh. The third gear (93) is disposed at the other end of the second transmission shaft (75), and the fourth gear (94) is fixed to the end flange (30). The third gear (93) and the fourth gear (94) mesh.

10. The wrist joint transmission device according to claim 9, characterized in that, The fourth gear (94) has a ring structure. The transmission ratio between the first gear (91) and the second gear (92) is I4, and the transmission ratio between the third gear (93) and the fourth gear (94) is I5, wherein I4 < I5.

11. The wrist joint transmission device according to claim 9, characterized in that, The first drive shaft (71) and the first gear (91) are integral structures, and the second drive shaft (75) and the third gear (93) are integral structures; the first gear (91) and the second gear (92) are both quasi-hypoid gears, and the third gear (93) and the fourth gear (94) are both helical gears; the second multi-stage transmission mechanism (70) also includes a second limiting bushing (76) and two second bearings (77), the two second bearings (77) are disposed between the inner wall of the wrist shell (20) and the second drive shaft (75), and the second limiting bushing (76) is disposed between the two second bearings (77).

12. The wrist joint transmission device according to claim 1, characterized in that, The arm housing (10) has a mounting cavity (11). The first drive unit (40) and the second drive unit (60) are both motors. The first drive unit (40) and the second drive unit (60) are both installed in the mounting cavity (11). The positions of the first drive unit (40) and the second drive unit (60) in the mounting cavity (11) are adjustable.

13. The wrist joint transmission device according to claim 1, characterized in that, The wrist shell (20) includes a main shell (21), a first connecting ring (22), and a second connecting ring (23) connected in sequence. The main shell (21) is connected to the output end of the hollow reducer (51). The end flange (30) is a hollow cylindrical structure. The end flange (30) passes through the main shell (21), the first connecting ring (22), and the second connecting ring (23). The wrist shell (20) also includes a third bearing (24) and two second oil seals (25). The third bearing (24) is sleeved on the end flange (30) and is located between the first connecting ring (22) and the second connecting ring (23). The two second oil seals (25) are respectively sleeved on both ends of the end flange (30).

14. A welding robot, characterized in that, The welding robot includes a welding torch body and a wrist joint transmission device according to any one of claims 1 to 13, wherein the welding torch body is mounted on the end flange (30) of the wrist joint transmission device.

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