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 existing industrial robot wrist structure end motor life shortage and inconvenient maintenance technical problem. The wrist structure of this industrial robot, including box, wrist casing and end motor, the box has two outwardly extending fork arm no.

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] The robot wrist is the component connecting the end effector and the arm. Its function is to adjust or change the orientation of the workpiece so that the robot end effector can adapt to complex motion requirements. In applications involving robots operating under harsh conditions, such as CNC loading and unloading, mobile phone case polishing, and metal polishing, the robot wrist is in direct contact with the workpiece. If foreign objects such as oil mist, water vapor, dust, or metal powder intrude from the outside, it can damage the internal parts of the robot wrist, leading to problems such as robot alarms and shutdowns.

[0003] Patent application number CN201810083480.0 discloses an industrial robot wrist, including a wrist body and a wrist connector. The wrist body and the wrist connector are connected and positioned by bearings. A gap maze structure is formed at the mating point between the wrist body and the wrist connector, and the gap maze structure is located outside the bearings. The wrist body is cylindrical in shape and houses a sixth-axis motor, which is mounted on the rear end of the reducer mounting plate by screws.

[0004] The aforementioned wrist structure still has shortcomings: the wrist body encloses the sixth-axis motor, which can easily lead to heat buildup in the motor during operation and makes it difficult to perform subsequent inspection and maintenance. Summary of the Invention

[0005] 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 that the end motor of the existing wrist structure has insufficient lifespan and is inconvenient to maintain.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] A wrist structure for an industrial robot includes a housing, a wrist shell, and an end effector motor. The housing has two outwardly extending forked arms, and the wrist shell is located between the two forked arms. The wrist shell has two outwardly extending forked arms, which are coaxially rotatably connected to the two forked arms. The end effector motor is located between the two forked arms and is fixedly connected to the wrist shell.

[0008] The housing connects to the robot's forearm and serves as the mounting platform for the wrist housing. The end effector motor powers the drive disc on the wrist housing. Two outward-extending forked arms on the housing prevent interference and collision between the wrist housing and the housing when the wrist housing swings. Two forked arms are mounted on the wrist housing, rotatably connected to the two forked arms on the housing, with the end effector motor positioned between the two forked arms. This open design of the wrist housing facilitates subsequent assembly and maintenance, while also promoting lightweight design. The motor housing ensures the sealing effect of the end effector motor itself. The end effector motor is mostly exposed to the outside for heat dissipation in the space between the two forked arms on the wrist housing, reducing surface obstruction and heat accumulation, extending the end effector motor's lifespan, and facilitating maintenance.

[0009] In the wrist structure of the aforementioned industrial robot, the housing has a cylindrical connecting part. A drive disk is rotatably connected to the outer side of the wrist housing. The axis of the drive disk is perpendicular to the rotation axis of the wrist housing, and the drive disk can be coaxially arranged with the connecting part. A reduction gear assembly for controlling the swing of the wrist housing is provided inside the housing. One of the forks is drivenly connected to the reduction gear assembly. The output shaft of the end effector motor is positioned eccentrically toward the drive disk, and the output shaft of the end effector motor is radially located between the axis of the drive disk and the other fork. The drive disk rotates to achieve end effector control of the wrist. The cylindrical connecting part on the housing can dock with the robot forearm, allowing the drive disk to be coaxially arranged with the connecting part. This ensures that the initial axis of the drive disk and the axis of the forearm remain collinear, facilitating program coordinate setting. At the same time, the output shaft of the end effector motor is positioned eccentrically away from the reduction gear assembly on the side of the drive disk, providing space for the reduction gear assembly and facilitating its placement. It also brings the end effector motor closer to the wiring location, reducing wiring difficulty.

[0010] In the wrist structure of the aforementioned industrial robot, the wrist housing contains a planetary reducer coaxially arranged and driven by the drive disk. A drive gear is coaxially fixed to the output shaft of the end motor, and the drive gear is driven by the planetary reducer. Thus, the drive gear and planetary reducer work together to achieve speed reduction and torque amplification transmission from the end motor output shaft to the drive disk, while the drive gear also enables an eccentric arrangement of the end motor relative to the drive disk.

[0011] In the wrist structure of the aforementioned industrial robot, the second fork arm has a cable pass-through port for the wiring harness to pass through. The terminal block on the outer periphery of the end motor is opposite to the cable pass-through port and blocks it. This facilitates the connection of the end motor's terminal block to the wiring harness inside the wrist housing through the cable pass-through port, enabling internal wiring and ensuring an internal sealing effect.

[0012] In the wrist structure of the aforementioned industrial robot, a ring-shaped rubber ring is embedded and covered along the edge of the cable passage, and the terminal block abuts against the rubber ring in a sealing manner. This facilitates a better seal between the end motor and the edge of the cable passage, preventing dust intrusion.

[0013] In the wrist structure of the aforementioned industrial robot, the opening direction of the cable passage is opposite to the direction of the output shaft of the end effector motor. This facilitates the connection between the terminal block and the cable passage when the end effector motor is axially mounted to the wrist housing, making assembly convenient.

[0014] Compared with the prior art, the advantages of this utility model are as follows:

[0015] The wrist structure of this industrial robot adopts an open-design wrist shell, which is more conducive to subsequent assembly and maintenance, and also facilitates lightweight design. The motor shell can ensure the sealing effect of the end motor itself. The end motor is located in the space between the two forks of the wrist shell, and most of it is exposed to the outside for heat dissipation. This reduces the obstruction of the end motor surface to avoid heat accumulation, extends the end motor life, and makes maintenance convenient. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of this embodiment.

[0017] Figure 2 This is a schematic diagram of the three-dimensional exploded structure of this embodiment.

[0018] Figure 3 This is a front view structural diagram of this embodiment.

[0019] Figure 4 yes Figure 3 A schematic diagram of the AA cross-sectional structure.

[0020] Figure 5 yes Figure 4 Enlarged view of part B in the image.

[0021] Figure 6 This is a partial three-dimensional exploded view of the structure in this embodiment.

[0022] In the diagram, 1. Housing; 11. Fork arm one; 12. Connecting part; 2. Wrist housing; 21. Cable pass-through port; 22. Fork arm two; 3. End motor; 31. Terminal block; 4. Drive plate; 5. Reduction assembly; 6. Planetary reducer; 7. Drive gear; 8. Rubber ring; 9. Drive motor. Detailed Implementation

[0023] 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.

[0024] like Figure 1 , Figure 2 As shown, the wrist structure of this industrial robot includes a housing 1, a wrist shell 2, an end effector motor 3, a planetary reducer 6, and a drive disk 4. The housing 1 has two forks 11, and the wrist shell 2 is located between these two forks 11. The wrist shell 2 has two forks 22. The planetary reducer 6 is a conventional component, disc-shaped, and coaxially arranged with the drive disk 4. The two forks 22 of the wrist shell 2 are coaxially rotatably connected to the two forks 11 of the housing 1. The end effector motor 3 is located between the two forks 22 of the wrist shell 2 and is fixedly connected to the wrist shell 2. The housing 1 has a cylindrical connecting part 12 for connecting to the robot's forearm. The drive disk 4 is rotatably connected to the outside of the wrist shell 2 and is drively connected to the output end of the planetary reducer 6. The axis of the drive disk 4 is perpendicular to the rotation axis of the wrist shell 2, and the drive disk 4 is coaxially arranged with the other end of the housing 1.

[0025] like Figure 3-5 As shown, the housing 1 contains a reduction gear 5 for controlling the swing of the wrist housing 2. The output end of the reduction gear 5 is connected to the wrist housing 2, and the output end of the reduction gear 5 is connected to the output shaft of the drive motor 9 inside the housing 1. One fork arm 22 of the wrist housing 2 is connected to the reduction gear 5. The output shaft of the end motor 3 is positioned eccentrically toward the drive disk 4, and the output shaft of the end motor 3 is radially located between the axis of the drive disk 4 and the other fork arm 22 of the wrist housing 2. The output shaft of the end motor 3 is coaxially fixed to a drive gear 7, which is connected to the planetary reducer 6.

[0026] like Figure 5 , Figure 6 As shown, the fork arm 22 of the wrist housing 2, which is not connected to the deceleration assembly 5, has a cable passage 21 for the wire harness to pass through. The terminal block 31 on the outer periphery of the end motor 3 is opposite to the cable passage 21 and blocks the cable passage 21. An annular rubber ring 8 is embedded and covered along the edge of the cable passage 21, and the terminal block 31 and the rubber ring 8 are sealed and abut against each other. The opening direction of the cable passage 21 is opposite to the direction of the output shaft of the end motor 3.

[0027] During operation, the circumferential sidewall of the end motor 3 is exposed in the exposed space between the two forks 22 of the wrist housing 2, which allows heat to dissipate quickly. At the same time, it is also convenient to observe from the outside and perform disassembly operations during maintenance and repair.

[0028] 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 (1), a wrist shell (2), and an end effector (3), wherein the housing (1) has two outwardly extending forked arms (11), and the wrist shell (2) is located between the two forked arms (11), characterized in that, The wrist housing (2) has two outwardly extending fork arms (22), which are coaxially rotatably connected to the two fork arms (11). The end motor (3) is located between the two fork arms (22) and is fixedly connected to the wrist housing (2).

2. The wrist structure of the industrial robot according to claim 1, characterized in that, The housing (1) has a cylindrical connecting part (12). A drive disk (4) is rotatably connected to the outside of the wrist housing (2). The axis of the drive disk (4) is perpendicular to the rotation axis of the wrist housing (2), and the drive disk (4) can be arranged coaxially with the connecting part (12). The housing (1) is provided with a deceleration assembly (5) for controlling the swing of the wrist housing (2). One of the forks (22) is connected to the deceleration assembly (5). The output shaft of the end motor (3) is set toward the eccentric position of the drive disk (4), and the output shaft of the end motor (3) is located radially between the axis of the drive disk (4) and the other fork (22).

3. The wrist structure of the industrial robot according to claim 2, characterized in that, The wrist housing (2) has a planetary reducer (6) arranged coaxially with and connected to the drive disk (4). The output shaft of the end motor (3) is coaxially fixed with a drive gear (7), and the drive gear (7) is connected to the planetary reducer (6).

4. The wrist structure of the industrial robot according to claim 1, 2, or 3, characterized in that, The second fork arm (22) has a wire passage (21) for the wire harness to pass through. The terminal block (31) on the outer periphery of the end motor (3) is opposite to the wire passage (21) and blocks the wire passage (21).

5. The wrist structure of the industrial robot according to claim 4, characterized in that, The edge of the wire passage (21) is covered with an annular rubber ring (8), and the terminal block (31) is sealed and abutted against the rubber ring (8).

6. The wrist structure of the industrial robot according to claim 4, characterized in that, The opening direction of the cable pass (21) is opposite to the direction of the output shaft of the end motor (3).

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