CN113183179A - Joint structure and industrial robot thereof - Google Patents

Abstract

The application relates to a joint structure and an industrial robot thereof, wherein the joint structure comprises a first cantilever and a second cantilever, wherein the first cantilever is provided with two connecting parts; the second cantilever comprises a shell which is rotatably connected with the connecting part and a connecting platform which is rotatably connected with the shell; the swing end hypoid output gear is arranged on the shell on any side connected with the connecting part; the swing end hypoid input gear is rotationally connected to the connecting part and meshed with the swing end hypoid output gear; the rotating end hypoid output gear and the input bevel gear linked with the rotating end hypoid output gear are rotationally connected to the connecting part at one side far away from the swinging end hypoid output gear; the output bevel gear is fixed on the connecting table and is linked with the input bevel gear; a rotating end hypoid input gear rotatably connected to the connecting portion and meshed with the rotating end hypoid output gear. This application has the effect that reduces industrial robot in the space volume that minor axis department occupied.

Description

Joint structure and industrial robot thereof

Technical Field

The application relates to the field of robot joints, in particular to a joint structure and an industrial robot thereof.

Background

An industrial robot is a mechanical device which simulates a human hand and performs various complicated operations through program control. Generally, an industrial robot is named according to the number of joints, such as a six-axis robot. The function of each joint is different, and the corresponding name of each joint is different, for example, an axis for ensuring that the end effector reaches any position of a working space is called a basic axis or a main axis, and an axis for realizing any spatial posture of the end effector is called a wrist axis or a secondary axis.

As an industrial robot, the simplest way to control the swing and rotation of a joint is to keep the output shaft of a servo motor or other control source concentric and fixed with the rotation axis of the joint, and to directly drive the joint by controlling the rotation of the output shaft to realize the corresponding operation.

Generally, the size of the industrial robot is gradually reduced along the direction from the main axis to the secondary axis, especially at the secondary axis, so that the end effector can enter a narrow space to perform a specific operation, and therefore how to reduce the occupied space to realize the swing and rotation of the secondary axis becomes a problem to be considered in designing the industrial robot.

Disclosure of Invention

In order to reduce the space volume occupied by the industrial robot at the secondary axis, the application provides a joint structure and the industrial robot thereof.

In a first aspect, the present application provides a joint structure that adopts the following technical solution:

a joint structure comprising:

a first cantilever having two extended connecting portions;

the second cantilever comprises a shell which is rotatably connected to the connecting part and a connecting platform which is rotatably connected to the shell;

a swing end hypoid output gear provided on the case on either side connected to the connecting portion, and coaxial with a rotation shaft of the second cantilever;

the oscillating end hypoid input gear is rotationally connected to the connecting part close to one side of the oscillating end hypoid output gear and meshed with the oscillating end hypoid output gear;

the swinging end driving source is arranged on the first cantilever and is used for controlling the swinging end hypoid input gear to rotate;

a rotating end hypoid output gear rotatably connected to the connecting portion at a side remote from the swing end hypoid output gear;

an input bevel gear rotatably connected to the connecting portion at a side remote from the swing end hypoid output gear and linked with the rotation end hypoid output gear;

the output bevel gear is fixed on the connecting table and is linked with the input bevel gear, and the rotating axis of the output bevel gear is superposed with the rotating axis of the connecting table;

a rotating end hypoid input gear rotatably connected to the connecting portion at a side remote from the oscillating end hypoid input gear and engaged with the rotating end hypoid output gear;

and the rotating end driving source is arranged on the first cantilever and is used for controlling the rotating end hypoid input gear to rotate.

By adopting the above technical scheme, in the first cantilever, the structure in the connecting part of one side is used for realizing the swing of the second cantilever, and the structure in the connecting part of the other side is used for realizing the rotation of the second cantilever, so that the servo motor and the corresponding input gear can be arranged in the connecting part without an outward protruding part through the design of the hypoid input gear and the output gear. Therefore, the space occupied by the design mode is only the space occupied by the first cantilever and the second cantilever, and the design is reasonable. Meanwhile, through the mutual matching of the input bevel gear and the output bevel gear, the offset of the rotating end driving source can be realized, so that the rotating end driving source is arranged on the first cantilever to realize the functions, the rotating end driving source is not required to be arranged on the second cantilever, the subsequent wiring is facilitated, and the full circumferential swing of the second cantilever is conveniently realized.

Preferably, the swing end hypoid output gear and the shell are fixed with an inner ring of the first support bearing, and an outer ring of the first support bearing is fixed on the connecting part.

Through adopting above-mentioned technical scheme, the rotation that has realized between casing and the connecting portion on the one hand of setting up of first support bearing is connected, has also improved the rotation precision between casing and the connecting portion simultaneously, and the stationarity is better.

Preferably, the input bevel gear is coaxially provided with a connecting shaft, the connecting shaft penetrates through the connecting part and is coaxially fixed with the rotating end hypoid output gear, and a connecting bearing which is positioned between the input bevel gear and the rotating end hypoid output gear and is connected with the connecting part is fixed outside the connecting shaft.

By adopting the technical scheme, the input bevel gear and the rotating end hypoid output gear are fixed to each other through the connecting shaft, the rotating end hypoid output gear is rotatably connected with the connecting part through the connecting bearing, the rotating precision is improved, and the stability is better.

Preferably, the connecting portion is provided with a groove shoulder for abutting against an axial end of the outer ring of the connecting bearing, and an end face, far away from the groove shoulder, of the connecting bearing abuts against a pressing plate connected to the connecting portion.

Through adopting above-mentioned technical scheme, fix connection bearing through pressing from both sides tight mode, simple structure, simple to operate easily realizes that the space occupies for a short time simultaneously, convenient the maintenance.

Preferably, the device further comprises a second support bearing, an inner ring of the second support bearing is fixed on the connecting part at one side far away from the swing end hypoid output gear, and an outer ring of the second support bearing is fixedly connected with the shell.

Through adopting above-mentioned technical scheme, all rotate the mode of being connected with connecting portion through the both sides of casing, improved the stability of second cantilever when taking place the swing for first cantilever, the stationarity is better, and the precision is higher.

Preferably, one side of the connecting part for mounting the second support bearing, which faces the connecting part on the other side, is provided with an annular step surface, the annular step surface is used for abutting against an inner ring of the second support bearing, and the pressing plate abuts against one side, far away from the annular step surface, of the inner ring of the second support bearing so as to clamp the inner ring of the second support bearing.

Through adopting above-mentioned technical scheme, adopt the mode of the inner circle of the fixed second support bearing of pressure strip and the outer lane of connection bearing simultaneously, simple structure, overall structure is compact, conveniently installs.

Preferably, be provided with clamping ring and go-between on the outer lane of second support bearing, the clamping ring just presss from both sides tight second support bearing's outer lane with the go-between reciprocal anchorage, clamping ring and casing fixed connection.

Through adopting above-mentioned technical scheme, mutual fixed between casing and the outer lane of second support bearing is easily realized to this kind of scheme, conveniently assembles and dismantles.

Preferably, the shell comprises a connecting shell connected to the connecting portion in a rotating mode and a rotating shell fixedly connected to the connecting shell, the connecting platform comprises a rotating platform connected to the rotating shell in a rotating mode and a driving platform coaxially connected with the rotating platform, and the output bevel gear is arranged on the driving platform.

By adopting the technical scheme, the design mode facilitates the whole assembly of the second cantilever, and meanwhile, each part is conveniently processed by adopting a split mode, so that the precision of each part can be improved to a certain extent.

Preferably, the rotating end hypoid input gear and the oscillating end hypoid input gear are sleeved with a bearing unit connected with the connecting part and a fixed end cover for fixing the bearing unit, and the fixed end cover is fixedly connected with the connecting part;

the bearing unit comprises two rolling bearings, inner rings of the adjacent rolling bearings are relatively fixed, and outer rings of the adjacent rolling bearings are relatively fixed;

the connecting part is provided with a limiting surface for axially limiting the bearing unit, the fixed end cover is abutted with the outer ring of the rolling bearing on one side, and the outer ring of the rolling bearing on the side far away from the fixed end cover is abutted with the limiting surface;

the locking ring is fixed on the rotating end hypoid input gear/swinging end hypoid input gear, a shaft shoulder is arranged on the rotating end hypoid input gear/swinging end hypoid input gear, and two sides, far away from each other, of the inner ring of the rolling bearing at two sides are respectively abutted against the locking ring and the shaft shoulder.

Through adopting above-mentioned technical scheme, this kind of mode has realized rotating end hypoid input gear and swing end hypoid input gear relatively fixed on connecting portion, makes its the two simultaneously and can carry out relative rotation on connecting portion, and stability is higher to can improve its transmission precision to a certain extent. Meanwhile, the design mode is simple in structure and convenient to install.

In a second aspect, the present application provides an industrial robot that adopts the following technical solution:

an industrial robot comprises the joint structure.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the occupied space is small, and the omnidirectional swing between the first cantilever and the second cantilever is not influenced;

2. compact structure, high transmission precision and stable joint rotation.

Drawings

Fig. 1 is a schematic cross-sectional view of a joint structure.

Fig. 2 is an enlarged schematic view of a portion a in fig. 1.

FIG. 3 is a schematic view of a swing end hypoid input gear and coupling portion rotational connection.

Description of reference numerals: 1. a first cantilever; 2. a second cantilever; 11. a connecting portion; 21. a housing; 22. a connecting table; 3. a swing mechanism; 4. a rotating mechanism; 31. a swing end hypoid output gear; 32. a swing end hypoid input gear; 33. a first support bearing; 331. a connecting section; 111. connecting grooves; 5. a gear end; 6. a connecting end; 7. a rotating connection mechanism; 71. a second support bearing; 72. a compression plate; 73. pressing a ring; 74. a connecting ring; 112. an annular step surface; 41. a rotating end hypoid output gear; 42. a rotating end hypoid input gear; 43. an input bevel gear; 44. an output bevel gear; 45. a connecting shaft; 46. connecting a bearing; 47. locking the nut; 48. a groove is arranged in a penetrating way; 113. a groove shoulder; 211. a connecting shell; 212. rotating the shell; 221. a rotating table; 222. a drive stage; 81. a bearing unit; 82. fixing an end cover; 114. a limiting surface; 811. a rolling bearing; 812. a first bushing; 813. a second bushing; 83. and (4) locking the ring.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The embodiment of the application discloses a joint structure. Referring to fig. 1, the joint structure includes a first arm 1 and a second arm 2 rotatably connected to the first arm 1. The first cantilever 1 has two connecting portions 11 extending in the same direction, a gap for the second cantilever 2 to penetrate is formed between the adjacent connecting portions 11, and the second cantilever 2 is rotatably connected to the connecting portions 11 on two sides. The second suspension arm 2 comprises a housing 21 rotatably connected to the connecting portion 11 and a connecting platform 22 rotatably connected to the housing 21, and the connecting portions 11 on both sides are respectively provided with a swing mechanism 3 for controlling the second suspension arm 2 to rotate around the first suspension arm 1 and a rotating mechanism 4 for controlling the connecting platform 22 of the second suspension arm 2 to rotate relative to the housing 21. The joint structure can simulate the movement of the wrist and change the working state thereof by the common or step-by-step driving of the swinging mechanism 3 and the rotating mechanism 4.

The swing mechanism 3 includes a swing-end hypoid output gear 31, a swing-end hypoid input gear 32, and a swing-end drive source (not shown) provided on the first suspension arm 1, the swing-end hypoid output gear 31 is fixed to either one of the side housings 21 connected to the connecting portion 11, and the swing-end hypoid output gear 31 is inserted into the connecting portion 11 and is coaxial with the rotation axis between the second suspension arm 2 and the first suspension arm 1. As an alternative embodiment, a first support bearing 33 connecting the oscillation end hypoid output gear 31 and the housing 21 is further included, both axial ends of an inner ring of the first support bearing 33 are fixedly connected with the oscillation end hypoid output gear 31 and the housing 21 through bolts, respectively, and the first support bearing 33 and the oscillation end hypoid output gear 31 are coaxially arranged. The outer ring of the first support bearing 33 is fixed relative to the connecting portion 11, and as an alternative embodiment, the outer ring of the first support bearing 33 is configured in a flange-like structure and is fixedly connected to the connecting portion 11 through the inner side of the connecting portion 11 (i.e., the side of the connecting portion 11 opposite to the two sides). Further, the outer ring of the first support bearing 33 has a connecting section 331 with a thickness smaller than that of the first support bearing 33, and the inner side of the connecting portion 11 is correspondingly provided with a connecting groove 111 for the connecting section 331 to penetrate through, so that the compactness of the structure of the portion is improved to a certain extent, and the space occupancy rate of the portion is further reduced.

The oscillation end hypoid input gear 32 is rotatably connected to the connecting portion 11, and the direction of extension of the oscillation end hypoid input gear 32 is the same as the direction of extension of the connecting portion 11. The oscillation end hypoid input gear 32 has a gear end 5 coaxially and integrally arranged and a connecting end 6 connected with the oscillation end driving source, the gear end 5 is meshed with the oscillation end hypoid output gear 31, and the oscillation end hypoid input gear 32 realizes rotation in a corresponding direction under the control of the oscillation end driving source, so that the oscillation end hypoid output gear 31 is controlled to generate forced rotation in the corresponding direction. As an alternative embodiment, the side of the oscillation end hypoid output gear 31 remote from the first support bearing 33 is a gear surface that meshes with the oscillation end hypoid input gear 32.

The swing end driving source can be selected as a servo motor, the connecting end 6 of the swing end hypoid input gear 32 and the output shaft of the swing end driving source can be coaxially fixed directly through a coupler, and the swing end hypoid input gear 32 can be driven through various transmission mechanisms. Thus, under the control of the swing-end drive source, the swing between the second boom 2 and the first boom 1 can be achieved.

Referring to fig. 1 and 2, in order to improve the stability of the rotation between the second arm 2 and the first arm 1, a rotation connecting mechanism 7 connected to the housing 21 is provided on the connecting portion 11 on the side away from the swing mechanism 3, and the smooth rotation between the connecting portion 11 on the side and the housing 21 is realized by the action of the rotation connecting mechanism 7. The rotating mechanism 4 includes a second support bearing 71, a pressing plate 72, a pressing ring 73 and a connecting ring 74, an inner ring of the second support bearing 71 is fixed relative to the connecting portion 11, an outer ring of the second support bearing 71 is fixed relative to the housing 21, and the rotating connection between the connecting portion 11 and the housing 21 is realized by the rotation of the second support bearing 71. It should be noted that the second support bearing 71 is arranged coaxially with the first support bearing 33. In the present embodiment, the first support bearing 33 and the second support bearing 71 are preferably cross roller bearings, but alternatively, they may be bearing structures such as deep groove ball bearings capable of bearing certain axial and radial loads.

An annular step surface 112 is arranged on one side of the connecting part 11, facing the other side connecting part 11, where the second supporting bearing 71 is installed, an inner ring of the second supporting bearing 71 is arranged in the annular step surface 112 in a penetrating mode, and the inner ring of the second supporting bearing 71 is attached to the annular step surface 112. The pressing plate 72 is fixed on the connecting portion 11 by bolts, and the pressing plate 72 and one side end face of the second support bearing 71 away from the annular step face 112 are abutted against each other, and clamp the inner ring of the second support shaft by the cooperation with the annular step face 112, so that the axial distance between the inner rings of the second support bearing 71 is slightly larger than the gap between the pressing plate 72 and the bottom of the annular step face 112, thereby realizing the fixing manner of interference fit.

The press ring 73 and the connection ring 74 are fixed to each other by a bolt connection, and the press ring 73 and the housing 21 are also fixed by a bolt connection. The pressing ring 73 and the connecting ring 74 are both in contact with the outer peripheral surface of the second support bearing 71, and the pressing ring 73 and the connecting ring 74 each have a portion extending to both side end surfaces of the outer ring of the second support bearing 71, thereby achieving the purpose of clamping and fixing the outer ring of the second support bearing 71. Similarly to the manner of fixing the inner ring of the second support bearing 71, the distance between the press ring 73 and the portion of the connection ring 74 extending to both side end surfaces of the second support shaft needs to be smaller than the axial thickness of the outer ring of the second support bearing 71.

The rotating mechanism 4 includes a rotating-end hypoid output gear 41, a rotating-end hypoid input gear 42, an input bevel gear 43, an output bevel gear 44, and a rotating-end drive source (not shown) that controls the rotation of the rotating-end hypoid input gear 42. Wherein, the rotating end hypoid input gear 42 and the input bevel gear 43 are both rotatably connected to the connecting part 11 at the side far away from the swing mechanism 3, and the rotating end hypoid input gear 42 and the input bevel gear 43 are linked with each other. The rotating-end hypoid input gear 42 is rotatably connected to the connecting portion 11 and engaged with the rotating-end hypoid output gear 41, the output bevel gear 44 is provided on the connecting table 22 and is linked with the input bevel gear 43, and the rotational axis of the output bevel gear 44 coincides with the rotational axis of the connecting table 22. And thus the free rotation of the joint table 22 can be controlled by the rotation-end driving source.

Wherein, the input bevel gear 43 is coaxially and integrally provided with a connecting shaft 45, the connecting shaft 45 penetrates through the connecting part 11 and is coaxially fixed with the rotating end hypoid output gear 41, and the axes of the input bevel gear 43, the connecting shaft 45 and the rotating end hypoid output gear 41 are all coincided with the rotating shaft of the second cantilever 2. Thus, it is also arranged coaxially with the second support bearing 71. In a preferred embodiment, a cavity is formed between the pressing ring 73 and the housing 21, and the input bevel gear 43 is inserted into the cavity formed between the pressing ring 73 and the housing 21.

The connecting shaft 45 is sleeved and fixed with a connecting bearing 46 which is positioned between the input bevel gear 43 and the rotating end hypoid output gear 41 and connected with the connecting part 11, an inner ring of the connecting bearing 46 is fixed with the connecting shaft 45, an outer ring of the connecting bearing 46 is fixed with the connecting part 11, and the connecting shaft 45 can be axially limited on the connecting part 11 relatively through the arrangement of the connecting bearing 46.

Wherein, the connecting shaft 45 penetrates through the rotating end hypoid output gear 41 and realizes circumferential synchronous transmission with the rotating end hypoid output gear 41 in a key connection mode. In order to realize the axial fixation between the connecting shaft 45 and the rotating-end hypoid output gear 41, a locking nut 47 is further fixed on the connecting shaft 45, wherein the locking nut 47 is in threaded connection with the connecting shaft 45 and abuts against one side of the rotating-end hypoid output gear 41 away from the input bevel gear 43, and as an alternative embodiment, a through groove 48 is provided on the rotating-end hypoid output gear 41 for the locking nut 47 to penetrate and sink into so as to reduce the axial length between the rotating-end hypoid output gear 41 and the input bevel gear 43.

The connecting shaft 45 has a shoulder on the side close to the input bevel gear 43 between the rotating-end hypoid output gear 41 and the input bevel gear 43, and both axial end surfaces of the inner race of the connecting bearing 46 abut against the shoulder and the rotating-end hypoid output gear 41, respectively. Thus, by continued tightening of the lock nut 47, the rotating-end hypoid output gear 41 is caused to clamp and fix the inner race of the connecting bearing 46 in cooperation with the shoulder of the connecting shaft 45. In the present embodiment, the connecting bearing 46 is preferably two single-row angular contact ball bearings with opposite axial loads, but alternatively, any number of bearings with opposite axial loads may be used and implemented by axially arranging them in sequence (for example, by deep groove ball bearings or two or more tapered roller bearings), and the length of the connecting bearing 46 in the axial direction is changed and adjusted according to the actual situation.

The connecting portion 11 is further provided with a groove shoulder 113 against which one axial end of the outer race of the connecting bearing 46 abuts, and one end surface of the outer race of the connecting bearing 46, which is away from the input bevel gear 43, abuts against the bottom of the groove shoulder 113, while the outer peripheral surface thereof abuts against the inner peripheral wall of the groove shoulder 113. As a preferred embodiment, the pressing plate 72 for pressing the second support bearing 71 is also pressed on the end surface of the side of the outer ring of the connecting bearing 46 facing the input bevel gear 43, and likewise, the distance between the pressing plate 72 and the bottom of the shoulder groove is also smaller than the thickness of the outer ring of the connecting bearing 46 to achieve the clamping fixation between the outer ring of the connecting bearing 46 and the connecting portion 11.

The housing 21 includes a coupling housing 211 coupled to the coupling portion 11 and a rotating housing 212 fixedly coupled to the coupling housing 211, the coupling stage 22 includes a rotating stage 221 rotatably coupled in the rotating housing 212 and a driving stage 222 coaxially coupled with the rotating stage 221, and the output bevel gear 44 is coaxially disposed on an outer circumferential wall of the driving stage 222 and intermeshes with the input bevel gear 43. The rotating table 221 and the driving table 222 are fixed to each other by a flange connection, and the rotating shell 212 and the connecting shell 211 are also fixed by a flange connection.

As an alternative embodiment, the rotating table 221 and the rotating shell 212 are configured as a crossed roller bearing structure to realize the rotating connection between the rotating table 221 and the rotating shell 212, and the crossed rollers are connected in a rolling manner in the channel formed between the rotating table 221 and the rotating shell 212. In order to facilitate the assembly of the cross roller, the rotating housing 212 is constructed in a separate structure, and the parts of the rotating housing 212 may be connected by a conventional connection means such as flange connection.

The direction of extension of the rotating-end hypoid input gear 42 is the same as the direction of extension of the connecting portion 11, similar to the swing-end hypoid input gear 32. And the rotating end hypoid input gear 42 also has a gear end 5 coaxially and integrally arranged and a connecting end 6 linked with the rotating end driving source, wherein the gear end 5 is meshed with the rotating end hypoid output gear 41, the rotating end hypoid input gear 42 realizes the rotation in the corresponding direction under the control of the rotating end driving source, and further controls the rotating end hypoid output gear 41 to generate forced rotation in the corresponding direction, and the rotating table 221 is rotated along the given rotating direction through the transmission of the input bevel gear 43 and the output bevel gear 44. As an alternative embodiment, the side of the rotating-end hypoid output gear 41 facing the connecting bearing 46 is a gear surface that meshes with the rotating-end hypoid input gear 42.

The arrangement of the rotating end driving source is the same as that of the swinging end driving source, the rotating end driving source can be a servo motor, and the connecting end 6 of the rotating end hypoid input gear 42 and the output shaft of the rotating end driving source can be coaxially fixed directly through a coupler, or the rotating end hypoid input gear 42 can be driven through various transmission mechanisms.

Furthermore, the same applies to the rotary-end hypoid input gear 42 and the rotary connection between the swing-end hypoid input gear 32 and the connecting portion 11, and in this embodiment, the swing-end hypoid input gear 32 is taken as an example for detailed explanation, specifically as follows:

referring to fig. 1 and 3, the swing-end hypoid input gear 32 is externally sleeved with a bearing unit 81 connected to the connecting portion 11 and a fixing end cover 82 for fixing the bearing unit 81, the fixing end cover 82 and the connecting portion 11 are fixed by a flange connection, a limiting surface 114 for limiting the bearing unit 81 is arranged on the connecting portion 11 and on one side of the bearing unit 81 away from the fixing end cover 82, and the axial limiting function of the bearing unit 81 is achieved through the mutual matching between the limiting surface 114 and the fixing end cover 82.

As a specific embodiment, the bearing unit 81 comprises two rolling bearings 811, between adjacent rolling bearings 811 there are arranged a first bushing 812 and a second bushing 813 that are sleeved outside the swing end hypoid input gear 32, while the two rolling bearings 811, the first bushing 812 and the second bushing 813 are all located outside the connecting end 6 of the swing end hypoid input gear 32.

As an embodiment of fixing the rolling bearing 811, both ends of the second bush 813 respectively abut against end surfaces of the outer rings of the rolling bearings 811 on both sides, and both sides of the outer rings of the rolling bearings 811 on both sides which are away from each other respectively abut against the fixed end cover 82 and the stopper surface 114, and the outer rings of the rolling bearings 811 are fixed to the connecting portion 11 by clamping between the fixed end cover 82 and the stopper surface 114.

As an embodiment for fixing the inner ring to the oscillation end hypoid input gear 32, a shoulder projecting toward the outer ring is provided between the connecting end 6 and the gear end 5, and the inner ring of the rolling bearing 811 on the side facing the stopper surface 114 abuts against the shoulder. The two ends of the first bushing 812 are respectively abutted against the end surfaces of the inner rings of the rolling bearings 811 on the two sides, and the connecting end 6 on the side far from the shaft shoulder is further in threaded connection with a locking ring 83, the locking ring 83 is used for abutting against the end surface of the inner ring of the rolling bearing 811 on the side far from the shaft shoulder, and further the inner ring of the rolling bearing 811 and the swing end hypoid input gear 32 are relatively fixed through the mutual matching between the locking ring 83 and the shaft shoulder.

While the two rolling bearings 811 are preferably two single-row angular contact ball bearings with opposite axial loads as a preferred embodiment, it is also possible to select any number of bearings with opposite axial loads and to realize them by arranging them axially one after another (for example, by deep groove ball bearings or two or more tapered roller bearings), and the required length of the bearing unit 81 in the axial direction is changed and adjusted according to the required length of the swing-end hypoid input gear 32, and it is also possible to omit the first bushing 812 and the second bushing 813 when the length of the connecting end 6 is small, that is, to directly abut the end faces of the two rolling bearings 811 against each other to realize synchronization.

In addition, the embodiment of the application also discloses an industrial robot which comprises the joint structure mentioned in the embodiment. Among them, as a preferred embodiment, the joint structure is applied to the secondary axes (for example, five axes and six axes) of the six-axis robot, that is, the swing axis between the first boom 1 and the second boom 2 is five axes of the six-axis robot, and the rotation axis between the connection table 22 and the housing 21 is six axes of the six-axis robot.

But not limited to the above-mentioned embodiments, the joint structure may be applied to any number of industrial robots, and the joint structure may be applied to any joints of industrial robots.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A joint structure, comprising:

a first boom (1) having two extending connecting portions (11);

the second cantilever (2) comprises a shell (21) which is rotatably connected to the connecting part (11) and a connecting table (22) which is rotatably connected to the shell (21);

a swing end hypoid output gear (31) which is provided on the housing (21) on either side connected to the connecting portion (11), and the swing end hypoid output gear (31) is coaxial with the rotation axis of the second boom (2);

a swing end hypoid input gear (32) rotatably connected to the connecting portion (11) on a side close to the swing end hypoid output gear (31) and engaged with the swing end hypoid output gear (31);

a swing end driving source arranged on the first cantilever (1) and used for controlling the rotation of the swing end hypoid input gear (32);

a rotating end hypoid output gear (41) rotatably connected to the connecting portion (11) on the side away from the swing end hypoid output gear (31);

an input bevel gear (43) rotatably connected to the connecting portion (11) on a side remote from the swing-end hypoid output gear (31) and interlocked with the rotation-end hypoid output gear (41);

the output bevel gear (44) is fixed on the connecting table (22) and is linked with the input bevel gear (43), and the rotating axis of the output bevel gear (44) is superposed with the rotating axis of the connecting table (22);

a rotating end hypoid input gear (42) rotatably connected to the connecting portion (11) on a side remote from the swing end hypoid input gear (32) and intermeshing with the rotating end hypoid output gear (41);

and the rotating end driving source is arranged on the first cantilever (1) and is used for controlling the rotating end hypoid input gear (42) to rotate.

2. The joint structure according to claim 1, wherein: the swing end hypoid output gear (31) and the shell (21) are fixed with an inner ring of the first support bearing (33), and an outer ring of the first support bearing (33) is fixed on the connecting portion (11).

3. The joint structure according to claim 1, wherein: the input bevel gear (43) is coaxially provided with a connecting shaft (45), the connecting shaft (45) penetrates through the connecting part (11) and is coaxially fixed with the rotating end hypoid output gear (41), and a connecting bearing (46) which is positioned between the input bevel gear (43) and the rotating end hypoid output gear (41) and is connected with the connecting part (11) is fixed outside the connecting shaft (45).

4. The joint structure according to claim 3, wherein: the connecting portion (11) is provided with a groove shoulder (113) for abutting against one axial end of an outer ring of the connecting bearing (46), and one end face, far away from the groove shoulder (113), of the connecting bearing (46) abuts against a pressing plate (72) connected to the connecting portion (11).

5. The joint structure according to claim 4, wherein: the swing end hypoid output gear (31) is characterized by further comprising a second support bearing (71), wherein the inner ring of the second support bearing (71) is fixed on the connecting portion (11) on one side far away from the swing end hypoid output gear (31), and the outer ring of the second support bearing (71) is fixedly connected with the shell (21).

6. The joint structure of claim 5, wherein: one side, facing the connecting part (11) on the other side, of the connecting part (11) for mounting the second supporting bearing (71) is provided with an annular step surface (112), the annular step surface (112) is used for abutting against the inner ring of the second supporting bearing (71), and the pressing plate (72) abuts against one side, away from the annular step surface (112), of the inner ring of the second supporting bearing (71) so as to clamp the inner ring of the second supporting bearing (71).

7. The joint structure of claim 5, wherein: be provided with clamping ring (73) and go-between (74) on the outer lane of second support bearing (71), clamping ring (73) and go-between (74) are fixed each other and press from both sides the outer lane of tight second support bearing (71), clamping ring (73) and casing (21) fixed connection.

8. The joint structure according to claim 1, wherein: the shell (21) comprises a connecting shell (211) rotationally connected to the connecting portion (11) and a rotating shell (212) fixedly connected to the connecting shell (211), the connecting platform (22) comprises a rotating platform (221) rotationally connected to the rotating shell (212) and a driving platform (222) coaxially connected with the rotating platform (221), and the output bevel gear (44) is arranged on the driving platform (222).

9. The joint structure according to claim 1, wherein: the rotating end hypoid input gear (42) and the swinging end hypoid input gear (32) are sleeved with a bearing unit (81) connected with the connecting part (11) and a fixed end cover (82) for fixing the bearing unit (81), and the fixed end cover (82) is fixedly connected with the connecting part (11);

the bearing unit (81) comprises two rolling bearings (811), the inner rings of the adjacent rolling bearings (811) are relatively fixed, and the outer rings of the adjacent rolling bearings (811) are relatively fixed;

a limiting surface (114) for axially limiting the bearing unit (81) is arranged on the connecting part (11), the fixed end cover (82) is abutted against the outer ring of the rolling bearing (811) on one side, and the outer ring of the rolling bearing (811) on the side far away from the fixed end cover (82) is abutted against the limiting surface (114);

the locking device is characterized by further comprising a locking ring (83) fixed on the rotating end hypoid input gear (42)/swinging end hypoid input gear (32), wherein a shaft shoulder is arranged on the rotating end hypoid input gear (42)/swinging end hypoid input gear (32), and two sides, far away from each other, of inner rings of the rolling bearings (811) at two sides are respectively abutted against the locking ring (83) and the shaft shoulder.

10. An industrial robot, characterized in that: comprising a joint structure according to any one of claims 1-9.

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