Wrist structure of an industrial robot

Abstract

The utility model provides a wrist structure of industrial robot belongs to the technical field of robot, it has solved the wrist structure of existing industrial robot to be difficult to guarantee the technical problem of sealing while improving the convenience of wiring. The wrist structure of this industrial robot, including including box and wrist shell, wrist shell rotates and is connected on the box, and the wrist shell includes the body and the wire outlet cylinder that is annular, the outside of body has the annular boss, one end face of wire outlet cylinder has the annular positioning convex ring, and the wire outlet cylinder is coaxial with the boss and is fixedly connected, and the positioning convex ring is coaxially positioned and inserts in the boss. The utility model has considered the sealing and the convenience of wiring of robot wrist.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology and relates to a wrist structure for an industrial robot. Background Technology

[0002] Patent application CN201410262008.5 discloses a wrist structure for an industrial robot, which is coupled to the tip of the arm of a robot (1) and has multiple degrees of freedom of movement. It includes: a wrist housing frame (13) for forming separate wrist spaces within the wrist frame; and an inner wrist frame (12) that is rotatably held within one of the wrist spaces. Its appendix... Figure 3 The inner frame (12) of the wrist has an integrated cable tray through which the wire harness of the wrist frame (11) passes and connects to the drive motor (22).

[0003] The above solution still has shortcomings: in order to ensure the connection stability between the wrist inner frame and the wrist frame, the cable tray has a certain length, making it difficult for the wires from the wrist frame to pass through the cable tray for direct wiring. Summary of the Invention

[0004] This utility model addresses the aforementioned problems in existing technologies by providing a wrist structure for an industrial robot. The technical problem this utility model aims to solve is: how to improve wiring convenience while ensuring sealing performance.

[0005] The objective of this utility model can be achieved through the following technical solutions:

[0006] A wrist structure for an industrial robot includes a housing and a wrist shell, the wrist shell being rotatably connected to the housing. The wrist shell comprises a body and an annular cable outlet tube. The outer side of the body has an annular boss, and one end face of the cable outlet tube has an annular positioning protrusion. The cable outlet tube is coaxially fixed to the boss, and the positioning protrusion is coaxially positioned and inserted into the boss.

[0007] By designing the wrist housing as a separate unit consisting of a main body and a ring-shaped cable delivery tube, and by setting a ring-shaped boss on the outside of the main body, the cable delivery tube and the boss are coaxially and fixedly connected. The positioning protrusion on the end face of the cable delivery tube is coaxially positioned and inserted into the boss. This separate design allows the part of the wrist housing that is used for rotating connection with the robot body to be connected separately. When it is necessary to connect the wire harness inside the robot body to the wrist housing, the wire end can be inserted into the main body after passing through the separately detached cable delivery tube. This process avoids the cable delivery tube obstructing or interfering with the operator's hand, improving the convenience of wiring. The connection between the cable delivery tube and the boss ensures sufficient connection length with the robot body. After wiring is completed, the positioning protrusion on the cable delivery tube can be inserted into the boss for easy positioning and fixing. At the same time, it increases the contact area at the joint between the cable delivery tube and the boss, reducing the probability of external dust intrusion and ensuring better sealing.

[0008] In the wrist structure of the aforementioned industrial robot, the wrist also includes a bowl-shaped wiring cup. The inner wall of the wiring cup has a through wiring hole. The wiring cup is fixed to the boss by an axially penetrating screw, and the opening of the wiring cup faces the side where the cable tray is located. In this way, the wire harness can be directly inserted into the wiring hole on the inner wall of the wiring cup from the outside to complete the wiring, making wiring more convenient, and the constraint provided by the wiring hole can ensure a more stable position of the wire harness.

[0009] In the wrist structure of the aforementioned industrial robot, the outer edge of the connector cup has an annular protrusion, and the outer edge of the protrusion fits tightly with the inner edge of the positioning protrusion ring. Thus, after the cable outlet is installed, the protrusion on the outer edge of the connector cup provides internal support for the cable outlet, and the outer edge of the positioning protrusion ring maintains a good fit with the inner edge of the protrusion, thereby ensuring a better sealing effect.

[0010] In the wrist structure of the aforementioned industrial robot, the side of the protruding ridge facing the other end of the cable outlet tube is chamfered. This facilitates the insertion of the positioning protrusion of the cable outlet tube into the boss by the chamfered surface of the protruding ridge, making the operation smoother and less strenuous.

[0011] In the wrist structure of the aforementioned industrial robot, the end of the cable tray facing away from the positioning protrusion is flared. This prevents scratching damage between the cable bundle and the cable tray during wiring, ensuring ease of wiring.

[0012] Compared with the prior art, the advantages of this utility model are as follows:

[0013] The wrist structure of this industrial robot features a separate design for the wrist shell, which is used to rotate and connect with the robot body. This design avoids obstructing or interfering with the operator's hand by preventing the cable outlet from being used, making wiring easier. At the same time, it ensures that external dust is not easily intruded and maintains good sealing performance. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of this embodiment.

[0015] Figure 2 This is a three-dimensional structural diagram of a partial structure in this embodiment.

[0016] Figure 3 This is a three-dimensional exploded view of a partial structure in this embodiment.

[0017] Figure 4 This is a side view of a partial structure in this embodiment.

[0018] Figure 5 yes Figure 4 AA cross-sectional structure diagram.

[0019] In the diagram, 10 is the wrist housing; 1 is the main body; 11 is the boss; 2 is the cable outlet tube; 21 is the positioning protrusion ring; 3 is the junction box; 31 is the wiring hole; 32 is the protrusion ridge; 4 is the screw; and 5 is the housing. Detailed Implementation

[0020] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0021] like Figure 1 As shown, the wrist structure of this industrial robot includes a housing 5 and a wrist shell 10, with the wrist shell 10 rotatably connected to the existing housing 5.

[0022] like Figure 2 , Figure 3 As shown, the wrist housing 10 includes a body 1 and an annular cable outlet tube 2. The outer side of the body 1 has an annular boss 11, and one end face of the cable outlet tube 2 has an annular positioning protrusion 21. The end of the cable outlet tube 2 facing away from the positioning protrusion 21 is flared. The wrist also includes a bowl-shaped connector 3. The inner wall of the connector 3 has a through connector hole 31, and the outer edge of the connector 3 has an annular screw 432.

[0023] like Figure 4 , Figure 5 As shown, the cable outlet spool 2 and the boss 11 are coaxially fixed together by several bolts, and the positioning ring 21 is coaxially positioned and inserted into the boss 11. The terminal cup 3 is fixed to the boss 11 by an axially penetrating screw, and the opening of the terminal cup 3 is arranged facing the side where the cable outlet spool 2 is located. The outer edge of the screw 432 is tightly fitted with the inner edge of the positioning ring 21, and the side of the screw 432 facing the other end of the cable outlet spool 2 is chamfered.

[0024] When wiring, the cable outlet tube 2 is not fixed to the boss 11 and remains separate, allowing the wire harness to pass through the cable outlet tube 2 and then extend into the boss 11 to complete the wiring. This avoids interference from the cable outlet tube 2 and facilitates a smooth connection between threading and wiring.

[0025] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A wrist structure for an industrial robot, comprising a housing (5) and a wrist shell (10), wherein the wrist shell (10) is rotatably connected to the housing (5), characterized in that, The wrist housing (10) includes a body (1) and an annular cable outlet tube (2). The outer side of the body (1) has an annular boss (11). One end face of the cable outlet tube (2) has an annular positioning protrusion (21). The cable outlet tube (2) is coaxially fixed to the boss (11) and the positioning protrusion (21) is coaxially positioned and inserted into the boss (11).

2. The wrist structure of the industrial robot according to claim 1, characterized in that, The wrist also includes a bowl-shaped connector (3), the inner wall of which has a through connector hole (31). The connector (3) is fixed to the boss (11) by an axially penetrating screw (4), and the opening of the connector (3) is arranged facing the side where the cable tube (2) is located.

3. The wrist structure of the industrial robot according to claim 2, characterized in that, The outer edge of the connector cup (3) has an annular protrusion (32), and the outer edge of the protrusion (32) is tightly fitted with the inner edge of the positioning protrusion (21).

4. The wrist structure of the industrial robot according to claim 3, characterized in that, The side of the protruding ridge (32) facing the other end of the cable outlet tube (2) is chamfered.

5. The wrist structure of the industrial robot according to claim 1, 2, 3, or 4, characterized in that, The end of the cable outlet tube (2) facing away from the positioning protrusion ring (21) is flared.

Images