CN113954110A - Robot wrist of synchronous belt switching-over - Google Patents
Robot wrist of synchronous belt switching-over Download PDFInfo
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- CN113954110A CN113954110A CN202111227360.1A CN202111227360A CN113954110A CN 113954110 A CN113954110 A CN 113954110A CN 202111227360 A CN202111227360 A CN 202111227360A CN 113954110 A CN113954110 A CN 113954110A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a robot wrist with synchronous belt reversing, which comprises: the bottom of the mounting seat is used for connecting the upper arm of the robot and the B, T shaft input, the niche is used for mounting the B, T shaft reversing assembly, and the U-shaped fork is used for connecting the B-shaft speed reducer and the T-shaft transmission assembly and supporting the rotary motion of the swinging body; the swinging body is provided with a B-axis speed reducer and a T-axis transmission part and can rotate at the front inner side of the U-shaped fork of the mounting seat to realize B-axis swinging motion of the wrist; the T-axis transmission assembly is used for connecting the T-axis reversing assembly with the T-axis speed reduction output assembly and is used as an auxiliary support of the swinging body; the T-axis deceleration output assembly is used for mounting a tool and realizing T-axis rotary motion of the tool; the synchronous belt reversing assembly is used for connecting an B, T shaft input and a swinging body and changing the direction of a B, T shaft transmission system. The invention replaces the existing bevel gear reversing by synchronous belt reversing, and solves the problems of transmission clearance and noise caused by bevel gear reversing.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a robot wrist with a reversing synchronous belt.
Background
The wrist of the industrial robot with the 6-axis vertical series structure needs 3 motion axes of wrist rotation, wrist swing and hand rotation; the shaft motion needs to be driven by a servo motor and is converted into low-speed and large-torque output through a speed reducer and a transmission part. In order to balance the weight of the upper arm, lower the center of gravity, improve the structural stability and bearing capacity of the robot, and provide sufficient space for installation, maintenance and heat dissipation of the driving motor, the R/B/T shaft driving motor of the large and medium-sized robot is generally disposed at the rear end of the upper arm, wherein the B/T shaft power is transmitted to the front end of the upper arm through a transmission shaft in the upper arm, and then converted into B-shaft swinging and T-shaft swinging motion on the wrist. Therefore, the transmission system is usually complex in structure and difficult to install, debug and maintain.
Disclosure of Invention
The invention aims to provide a robot wrist with a reversing synchronous belt, which can not only meet the transmission requirement of a B/T shaft of a robot with a rear driving motor, but also solve the problems of transmission clearance and noise caused by reversing of the existing bevel gear.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the utility model provides a robot wrist of synchronous belt switching-over, includes mount pad, B axle input, T axle input, swinging body and synchronous belt switching-over subassembly, its characterized in that: the mounting seat is a middle hole U-shaped fork with a niche at one side, and the bottom of the U-shaped fork is connected with a B shaft input, a T shaft input and a robot upper arm;
the U-shaped fork inner side of the mounting seat is rotatably connected with a swinging body, one end of a B-axis reducer is rotatably connected to the mounting seat, the mounting seat is provided with a T-axis transmission assembly, one end of the T-axis transmission assembly is positioned on the front side of the niche of the mounting seat, the other end of the T-axis transmission assembly is arranged at one end of the swinging body, the other end of the swinging body is connected with the other end of the B-axis reducer, and the side end of the swinging body is provided with a T-axis speed reduction output assembly;
the swing body is the cavity inner chamber, and B axle reduction gear input shaft and reversing bevel gear are installed to the cavity inner chamber of swing body, fixedly connected with T axle drive belt pulley and reversing bevel gear on the axle sleeve, install the fixing base in the mount pad, and the axle sleeve rotates to be connected in the fixing base, is equipped with the hole that is used for installing B axle reduction gear input shaft and rear bearing in the axle sleeve, and B axle bearing fixed connection is in the outside of fixing base, and T axle reversing assembly passes through axle sleeve, T axle drive belt pulley and reversing bevel gear with T axle speed reduction output assembly and is connected, synchronous belt reversing assembly is connected with B axle input, T axle input and swing body, can be used to transform B axle and T axle transmission system direction.
As a further explanation of the invention, an input bevel gear of the T-shaft speed reducer is fixedly connected to an input shaft of the T-shaft speed reducer, the input bevel gear of the T-shaft speed reducer is in meshed connection with a reversing bevel gear, a sealing outer sleeve is installed on a swinging body, and a tool mounting flange is installed on the input shaft of the T-shaft speed reducer.
As a further explanation of the invention, the T-axis driving belt pulley is in transmission connection with the T-axis input belt pulley through a T-axis synchronous belt, the B-axis driving belt pulley is in transmission connection with the B-axis input belt pulley through a B-axis synchronous belt, the T-axis reversing assembly is used for 90-degree reversing and tensioning of the T-axis synchronous belt, and the B-axis reversing assembly is used for 90-degree reversing and tensioning of the B-axis synchronous belt.
As a further illustration of the present invention, the B-axis reversing assembly and the T-axis reversing assembly are slidably connected inside the U-shaped fork niche of the mounting base.
As a further explanation of the invention, the B-axis reversing component and the T-axis reversing component have the same structure, the reversing component comprises a mandrel, an upper reversing wheel, a lower reversing wheel, a connecting block and an adjusting bolt, the mandrel is used for fixing the reversing wheel, and the connecting block and the adjusting bolt are used for adjusting the position of the reversing component.
As a further explanation of the invention, the B-axis input bearing is arranged inside the U-shaped fork-wall niche of the mounting seat, the B-axis input bearing is connected with the B-axis input, the outer ring of the B-axis input bearing is fixedly connected to the boss of the mounting seat, the inner ring of the B-axis input bearing is fixedly connected with the B-axis input through the B-axis input belt pulley, and the inner ring of the T-axis input bearing is fixedly connected with the T-axis input through the T-axis input belt pulley;
as a further explanation of the invention, the rear inner side of the U-shaped fork wall niche of the mounting seat is provided with a guide groove for mounting the B-axis reversing assembly and the T-axis reversing assembly to slide back and forth, the rear wall is provided with mounting holes for adjusting bolts of the B-axis reversing assembly and the T-axis reversing assembly, the front side of the U-shaped fork wall niche of the mounting seat is provided with a fixing hole and a mounting hole, the fixing hole is used for mounting the B-axis reducer, and the mounting hole is used for mounting an input front bearing of the B-axis reducer.
As a further explanation of the invention, one end of the oscillating body is provided with a flange hole and a boss, the flange hole is used for installing the B-axis reducer, the boss is used for installing the main bearing of the input shaft of the B-axis reducer, the other end of the oscillating body is provided with a flange hole used for installing the B-axis bearing, and the side end of the oscillating body is provided with a flange hole used for installing the T-axis reducer.
As a further explanation of the invention, the B-axis reducer is a simple unit type harmonic reducer with a CRB, a rigid wheel of the B-axis reducer and an inner ring of the CRB are fixed on the swinging body, a flexible wheel of the B-axis reducer and an outer ring of the CRB are fixed on the mounting seat, and an input shaft of the B-axis reducer is rotationally connected on a boss of the swinging body.
As a further explanation of the invention, the input shaft of the B-axis speed reducer is provided with a front bearing and a rear bearing, the front bearing is arranged on a U-shaped fork in a mounting seat, the rear bearing is arranged in an inner hole of a T-axis transmission assembly, the main bearing is used for radially and axially positioning the input shaft of the B-axis speed reducer, and the front bearing and the rear bearing are used for radially positioning the input shaft of the B-axis speed reducer.
As a further description of the present invention, the outer end face of the fixing seat is provided with a fixing screw hole, the fixing seat is fixedly connected with the mounting seat through the threaded connection of a bolt and the fixing screw hole, the inner side of the fixing seat is provided with a supporting bearing outer ring for fixing the shaft sleeve, a flange for the pressing ring and a screw hole, and the outer side of the fixing seat is provided with a flange for fixing the swing body to support the B-shaft bearing inner ring and the pressing ring in an auxiliary manner and a screw hole.
As a further explanation of the invention, the T-axis reducer adopts a shaft input unit type harmonic reducer with a housing, an input bevel gear of the T-axis reducer is fixedly connected with an input shaft of the T-axis reducer, the housing of the T-axis reducer, a flexible gear and a CRB outer ring are mounted on a swinging body by using a fixing bolt, and the output of the T-axis reducer, a rigid gear and a CRB inner ring are fixedly connected by using a tool mounting flange; the sealing outer sleeve is fixed on the swinging body and serves as a protective shell of the T-axis speed reducer and the tool mounting flange.
As a further explanation of the invention, the upper reversing wheel is used for a flat belt pulley for reversing and tensioning the back of the synchronous belt, the lower reversing wheel is used for a synchronous belt pulley for reversing and tensioning the tooth surface of the synchronous belt, the upper reversing wheel and the lower reversing wheel are respectively arranged on two sides of the mandrel, the supporting bearing is connected with the mandrel through a spring retainer ring, a locking nut and a sleeve, the diameters of the upper reversing wheel and the lower reversing wheel are the same, and the installation positions of the upper reversing wheel and the lower reversing wheel can be conveniently replaced.
As a further explanation of the present invention, the connecting block and the adjusting bolt are used for adjusting the position of the reversing assembly, the connecting block is slidably connected to the middle of the mandrel, and the adjusting bolt is rotatably connected to the rear wall of the niche of the mounting seat.
Compared with the prior art, the invention has the following beneficial effects:
the invention meets the B/T shaft transmission requirement of the robot with the rear driving motor, replaces the common bevel gear reversing by utilizing the synchronous belt reversing, ensures that the robot wrist transmission system is in flexible gapless connection, not only solves the problems of transmission system gap and noise, but also greatly facilitates the processing, the installation and the adjustment compared with the common robot wrist, improves the transmission precision and prolongs the service life, has simple structure, and is very easy to produce, manufacture, assemble and maintain.
Drawings
FIG. 1 is a schematic diagram of the general structure of a robot wrist with synchronous belt reversing;
FIG. 2 is a partial structural diagram of a B-axis reversing component of a robot wrist for synchronous belt reversing;
FIG. 3 is a three-dimensional schematic diagram of an B, T-axis reversing component of a timing belt reversing robot wrist.
In the figure: a mounting base 1; the B shaft input 2; a T-axis input 3; the B shaft is input into a belt pulley 4; a T-shaft input belt pulley 5; an oscillating body 6; a B-axis reducer 7; an input shaft 8 of the B-shaft reducer; an input bevel gear 9 of the T-axis reducer; a T-axis reducer 10; a sealing jacket 11; a tool mounting flange 12; a reverse bevel gear 13; a fixed seat 14; a shaft sleeve 15; a T-axis drive pulley 16; a B-axis drive pulley 17; a T-axis timing belt 18; a B-axis synchronous belt 19; a T-axis reversing assembly 20; a B-axis reversing component 21; a lower reversing wheel 21.1; a mandrel 21.2; an adjusting bolt 21.3; a connecting block 21.4; and an upper reversing wheel 21.5.
Detailed description of the preferred embodiments
The invention is explained in detail below with reference to the figures and with reference to embodiments.
As shown in fig. 1, 2 and 3, the present invention is shown to not only meet the B/T shaft transmission requirement of a robot with a rear-mounted driving motor, but also solve the transmission gap and noise problems of the existing bevel gear reversing, the mounting base 1 is a hollow U-shaped fork with a niche at one side, the bottom of the U-shaped fork of the mounting base 1 is connected with the B shaft input 2, the T shaft input 3 and the upper arm of the robot, the niche of the mounting base 1 is provided with the B shaft reversing component 21 and the T shaft reversing component 20, the B shaft reducer 7 is rotatably connected to the mounting base 1, the T shaft transmission component is arranged at the front side of the niche of the mounting base 1, the T shaft transmission component is rotatably connected to the mounting base 1, the swinging body 6 is rotatably connected to the inner side of the U-shaped fork of the mounting base 1, the swinging body 6 is a special-shaped tee, one end of which is connected with the B shaft reducer 7, the other end of which is connected with the T shaft transmission component, and the T shaft reduction output component is arranged at the side end, a B-axis reducer input shaft 8 and a reversing bevel gear 13 are installed in a hollow inner cavity of the swinging body 6, a T-axis drive belt pulley 16 and a fixed seat 14 are further arranged, a shaft sleeve 15 is rotatably connected in the fixed seat 14, the T-axis drive belt pulley 16 and the reversing bevel gear 13 are both fixedly connected to the shaft sleeve 15, an inner hole for installing the B-axis reducer input shaft 8 and a rear bearing 8.3 is formed in the shaft sleeve 15, a B-axis bearing 6.1 is fixedly connected to the outer side of the fixed seat 14, a T-axis reversing assembly 20 is connected with a T-axis speed reduction output assembly through a T-axis transmission assembly, and the synchronous belt reversing assembly is connected with a B-axis input 2, a T-axis input 3 and the swinging body 6 and can be used for changing the directions of a B-axis and T-axis transmission systems;
when the wrist of the robot needs to do B-axis swinging motion, the B-axis servo driving motor drives the B-axis input 2 to rotate, then the power is transmitted to the B-axis reducer input shaft 8 through the synchronous belt reversing component, the B-axis reducer input shaft 8 rotates, and then the B-axis reducer 7 outputs to drive the swinging body 6 to realize B-axis swinging motion of the wrist, when the wrist needs to do T-axis rotating motion, the T-axis servo driving motor drives the T-axis input 3 to rotate, then the power is transmitted to the T-axis reducer output component through the shaft sleeve 15 and the reversing bevel gear 13 through the synchronous belt reversing component, the input shaft of the T-axis reducer 10 is driven to rotate, the T-axis reducer 10 outputs to drive the tool mounting flange 12 and the operation tool fixed on the tool mounting flange 12 to realize T-axis swinging motion, and further the B/T-axis transmission requirement of the post-robot of the driving motor can be realized, the synchronous belt reversing component can be used for replacing the common bevel gear reversing, and the problems of clearance and noise of a transmission system are solved.
As shown in fig. 1, the wrist can realize T-axis rotary motion of a tool mounting flange 12 when performing B-axis oscillating motion, and the wrist is provided with a T-axis reducer input bevel gear 9, a sealing outer sleeve 11 and a tool mounting flange 12, wherein the T-axis reducer input bevel gear 9 is fixedly connected to an input shaft of a T-axis reducer 10, the T-axis reducer input bevel gear 9 is meshed with a reversing bevel gear 13, the sealing outer sleeve 11 is fixedly connected to an oscillating body 6, and the tool mounting flange 12 is mounted on the input shaft of the T-axis reducer 10;
when the B-axis servo driving motor drives the B-axis input 2 to rotate, the power is transmitted to the B-axis reducer input shaft 8 through the synchronous belt reversing assembly, the B-axis reducer input shaft 8 rotates, and the B-axis reducer 7 outputs to drive the swinging body 6 to perform B-axis swinging movement of a wrist, because a certain friction force exists between the B-axis reducer input shaft 8 and the shaft sleeve 15, when the B-axis reducer input shaft 8 rotates, the shaft sleeve 15 is driven to slightly rotate through the friction force, because the reversing bevel gear 13 is fixedly connected to the shaft sleeve 15, the reversing bevel gear 13 is also meshed with the T-axis reducer input bevel gear 9, when the shaft sleeve 15 rotates, the reversing bevel gear 13 is driven to rotate to drive the T-axis reducer input bevel gear 9 to rotate, and the T-axis reducer 10 outputs to enable a tool mounting flange 12 and a tool for operation on the tool mounting flange 12 to perform T-axis swinging movement, the protective housing 11 serves as a protective housing for the T-axis gear unit 10 and the tool mounting flange 12.
As shown in fig. 1 and 3, it is shown how the wrist is driven to do B-axis swinging motion and T-axis revolving motion respectively by the B-axis input 2 and the T-axis input 3, the synchronous belt reversing component comprises a B-axis input belt pulley 4, a T-axis input belt pulley 5, a B-axis drive belt pulley 17, a T-axis synchronous belt 18 and a B-axis synchronous belt 19, the B-axis input belt pulley 4 is fixedly connected with the B-axis input 2, the T-axis input belt pulley 5 is fixedly connected with the T-axis input 3, the T-shaft driving belt pulley 16 is in transmission connection with the T-shaft input belt pulley 5 through a T-shaft synchronous belt 18, the B-axis driving belt pulley 17 is in transmission connection with the B-axis input belt pulley 4 through a B-axis synchronous belt 19, the T-shaft reversing assembly 20 is used for reversing and tensioning the T-shaft synchronous belt 18 by 90 degrees, and the B-shaft reversing assembly 21 is used for reversing and tensioning the B-shaft synchronous belt 19 by 90 degrees;
the B-axis servo driving motor drives the B-axis input 2 to rotate, the B-axis input 2 drives the B-axis input belt pulley 4 to rotate, then the B-axis synchronous belt 19 and the B-axis reversing assembly 21 bend and tension the B-axis synchronous belt by 90 degrees, further power is transmitted to the B-axis driving belt pulley 17, the B-axis driving belt pulley 17 drives the B-axis reducer input shaft 8 to rotate, further the B-axis reducer 7 outputs and drives the swinging body 6 to realize B-axis swinging motion of a wrist, then the T-axis servo driving motor drives the T-axis input 3 to rotate, the T-axis input 3 drives the T-axis input belt pulley 5 to rotate, further the T-axis synchronous belt 18 and the T-axis reversing assembly 20 bend the synchronous belt by 90 degrees, further power is transmitted to the T-axis driving belt pulley 16, the T-axis driving belt pulley 16 drives the shaft sleeve 15 to rotate, and the reversing bevel gear 13 fixedly connected to the shaft sleeve 15 to rotate, because the reversing bevel gear 13 is meshed with the input bevel gear 9 of the T-axis reducer, the input bevel gear 9 of the T-axis reducer can be driven to rotate, the input shaft of the T-axis reducer 10 is driven to rotate, and the output of the T-axis reducer 10 drives the tool mounting flange 12 to perform T-axis rotary motion.
As shown in fig. 3, the present invention can always ensure that the synchronous belt is always kept in a tensioned state, the B-axis reversing assembly 20 and the T-axis reversing assembly 21 are both slidably connected to the rear inner side of the U-shaped fork niche of the mounting base 1, if the synchronous belt is loosened during the operation of the wrist, the operation precision of the work tool connected to the wrist is affected, and further, the synchronous belt can be always kept in a tensioned state by sliding the B-axis reversing assembly 20 and the T-axis reversing assembly 21, and the operation precision of the work tool can be improved.
As shown in fig. 2, the position of the reversing assembly can be adjusted, the T-axis reversing assembly 20 and the B-axis reversing assembly 21 have the same structure, the inside of the T-axis reversing assembly is provided with a mandrel 21.2, an upper reversing wheel 21.5, a lower reversing wheel 21.1, a connecting block 21.4 and an adjusting bolt 21.3, the upper reversing wheel 21.5 and the lower reversing wheel 21.1 are respectively and rotatably connected to two sides of the mandrel 21.2, the connecting block 21.4 is slidably connected to the middle of the mandrel 21.2, the adjusting bolt 21.3 is rotatably connected to the rear wall of the niche of the mounting base 1, the support bearing is connected with the mandrel 21.2 through a spring collar, a lock nut and a sleeve, and the diameters of the upper reversing wheel 21.5 and the lower reversing wheel 21.1 are the same;
the mandrel 21.2 is used for fixing the reversing wheel, then the adjusting bolt 21.3 is rotated, so that the mandrel 21.2 together with the upper reversing wheel 21.5 and the lower reversing wheel 21.1 slide on the inner side behind the niche of the mounting seat 1, the position of the reversing assembly is adjusted, and the synchronous belt is tensioned, and the mounting positions of the upper reversing wheel 21.5 and the lower reversing wheel 21.1 can be interchanged due to the fact that the diameters of the upper reversing wheel 21.5 and the lower reversing wheel 21.1 are the same.
As shown in fig. 1, a boss is arranged on the inner side of the bottom of the U-shaped fork of the mounting seat 1, a B-shaft input bearing 2.1 is connected with a B-shaft input 2, an outer ring of the B-shaft input bearing 2.1 is mounted on the boss, an inner ring of the B-shaft input bearing 2.1 is fixedly connected with the B-shaft input 2 through a B-shaft input belt pulley 4, a T-shaft input bearing 3.1 is arranged on a T-shaft input 3, the T-shaft input bearing 3.1 is completely and fixedly connected with the B-shaft input 2, and an inner ring of the T-shaft input bearing 3.1 is fixedly connected with the T-shaft input 3 through a T-shaft input belt pulley 5;
a B-axis input bearing 2.1 and a T-axis input bearing 3.1 are respectively arranged on the B-axis input 2 and the T-axis input 3, and can play a supporting role for the B-axis input 2 and the T-axis input 3, so that the friction coefficient of the B-axis input 2 and the T-axis input 3 in the rotating process is reduced, and the rotation precision of the B-axis input 2 and the T-axis input 3 is further ensured;
furthermore, a guide groove which slides back and forth is arranged on the inner side of the rear part of the U-shaped fork niche of the mounting seat 1, and the B-axis reversing assembly 21 and the T-axis reversing assembly 20 are both connected in a sliding manner in the guide groove; the rear wall of the U-shaped fork niche of the mounting seat 1 is provided with a mounting hole, the front side of the U-shaped fork niche of the mounting seat 1 is provided with a fixing hole, the mounting hole is used for mounting the B-shaft reversing assembly 20, the T-shaft reversing assembly 21 and the adjusting bolt 21.3, and the fixing hole is used for mounting the T-shaft transmission assembly; the U-shaped fork of mount pad 1 does not have niche side and is equipped with fixed orifices and mounting hole, and the fixed orifices of this side is used for installing B axle reduction gear 7, and the mounting hole of this side is used for installing 8 front bearings 8.1 of B axle reduction gear input shaft, is equipped with a plurality of fixed orifices and mounting hole in mount pad 1, and then is convenient for install the moving part on mount pad 1.
As shown in fig. 1, the swing body 6 is a special tee joint, one end of the swing body is provided with a flange hole for mounting the B-axis reducer 7 and a boss for mounting the main bearing 8.1 of the input shaft 8 of the B-axis reducer, the other end of the swing body 6 is provided with a flange hole for mounting the B-axis bearing 6.1, the side end of the swing body 6 is provided with a flange hole for mounting the T-axis reducer 10, and the B-axis reducer 7 and the T-axis reducer are conveniently mounted in the swing body 6 by providing the swing body 6 with a plurality of flange holes.
As shown in fig. 1, the B-axis reducer 7 is a simple unit type harmonic reducer with a CRB cross roller bearing, the CRB is a cross roller bearing, a rigid wheel of the B-axis reducer 7 and a CRB inner ring are fixed on the oscillating body 6, a flexible wheel of the B-axis reducer 7 and a CRB outer ring are fixed on the mounting base 1, and a B-axis reducer input shaft 8 is rotatably connected to a boss of the oscillating body 6;
because the bearings used by the industrial robot are all thin-wall and high-precision bearings, the precision of the bearings is above grade P5, the precision requirement of part of the bearings reaches grade P2, the bearings belong to ultra-high precision bearings, the processing and production difficulty is high, the domestic requirement at present relies on foreign import in a large program, the finished products are high, the parts of the industrial robot, such as the waist, the tail end, the elbow, the wrist and the like, which need to move need high-precision and high-bearing crossed roller bearings for supporting, meanwhile, in order to ensure that the industrial robot can reliably complete the process task in the production and ensure the process quality, the requirements on the positioning precision and the repeated positioning precision of the industrial robot are high, therefore, the precision of the industrial robot needs a harmonic reducer, the precision reducer motor has another function of transmitting larger torque in the industrial robot, when the load is larger, the servo motor is not cost-effective in power increase, output torque can be increased through the speed reducer within a proper speed range, in addition, the servo motor is easy to generate heat and low-frequency vibration under low-frequency operation, the industrial robot which works for a long time and periodically is not beneficial to ensuring accurate and reliable operation, the existence of the precise speed reducing motor enables the servo motor to operate at a proper speed, the rotating speed is accurately reduced to the speed required by each part of the industrial robot, and the rigidity of a mechanical body is improved while larger torque is output. Compared with a universal speed reducer, the robot joint speed reducing motor is required to have the characteristics of short transmission chain, small volume, high power, light weight, easiness in control and the like, and the small-sized crossed roller bearing is mainly suitable for various robot arm joints and can meet different applications of 1-6 shafts of a mechanical arm.
As shown in figure 1, the input bearing 8 of the B-axis speed reducer can be positioned, a front bearing 8.2 and a rear bearing 8.3 are arranged on the input shaft 8 of the B-axis speed reducer, the front bearing 8.2 is arranged on a U-shaped fork in the mounting seat 1, the rear bearing 8.3 is arranged in an internal control of the T-axis transmission assembly, the main bearing 8.1 is used for radially and axially positioning the input shaft 8 of the B-axis speed reducer, and the front bearing 8.2 and the rear bearing 8.3 are used for radially positioning the input shaft 8 of the B-axis speed reducer.
As shown in fig. 1, a fixing screw hole is provided on an outer end surface of the fixing seat 14, the fixing seat 14 is fixed on the mounting seat 1 by a bolt and a fixing screw hole in a threaded connection, a support bearing outer ring for fixing the shaft sleeve 15, a flange for the pressing ring and a screw hole are provided on an inner side of the fixing seat 14, an auxiliary support B-axis bearing 6.1 inner ring for fixing the oscillating body 6, a flange for the pressing ring and a screw hole are provided on an outer side of the fixing seat 14, and a support bearing is provided on the shaft sleeve 15, so that the oscillating precision of the oscillating body 6 in the B-axis oscillating motion can be ensured.
As shown in fig. 1, the T-axis reducer 10 adopts a shaft input unit type harmonic reducer with a housing, the T-axis reducer input bevel gear 9 is fixedly connected with an input shaft of the T-axis reducer 10, the housing of the T-axis reducer 10 is mounted on the oscillating body 6 together with a flexible gear and a CRB outer ring, the output of the T-axis reducer 10 is fixedly connected with a rigid gear and a CRB inner ring by a tool mounting flange 12, and the harmonic reducer is adopted, so that the wrist has good mechanical working performance, and has a large transmission ratio, the characteristics of high torque, strong bearing capacity and high rotation precision, and is quiet and stable in operation.
Claims (11)
1. The utility model provides a robot wrist of synchronous belt switching-over, includes mount pad (1), B axle input (2), T axle input (3), pendulum (6) and synchronous belt switching-over subassembly, its characterized in that: the mounting seat (1) is a hollow U-shaped fork with a niche at one side, and the bottom of the U-shaped fork is connected with a B-axis input (2), a T-axis input (3) and an upper arm of the robot;
a B-axis reversing assembly (21) and a T-axis reversing assembly (20) are mounted on the niche of the mounting seat (1), the inner side of a U-shaped fork of the mounting seat (1) is rotatably connected with a swinging body (6), a B-axis reducer (7) and a T-axis transmission assembly are arranged on the mounting seat (1), one end of the T-axis transmission assembly is fixed to the front side of the niche of the mounting seat (1), the other end of the T-axis transmission assembly is arranged in the inner cavity of the swinging body (6), the other end of the swinging body (6) is connected with the B-axis reducer (7), and a T-axis speed reduction output assembly is mounted at the side end of the swinging body (6);
the T-shaft transmission assembly comprises a B-shaft bearing (6.1), a rear bearing (8.3), a shaft sleeve (15), a T-shaft driving belt pulley (16), a reversing bevel gear (13) and a fixed seat (14), a hollow inner cavity of the swinging body (6) is provided with a B-shaft reducer input shaft (8) and the reversing bevel gear (13), the T-shaft driving belt pulley (16) and the reversing bevel gear (13) are fixedly connected onto the shaft sleeve (15), the fixed seat (14) is arranged in the mounting seat (1), the shaft sleeve (15) is rotatably connected into the fixed seat (14), an inner hole for mounting the B-shaft reducer input shaft (8) and the rear bearing (8.3) is arranged in the shaft sleeve (15), the B-shaft bearing (6.1) is fixedly connected onto the outer side of the fixed seat (14), the T-shaft reversing assembly (20) and the T-shaft speed reduction output assembly are connected through the shaft sleeve (15), the T-shaft driving belt pulley (16) and the reversing bevel gear (13), the synchronous belt reversing assembly is connected with the B-axis input (2), the T-axis input (3) and the swinging body (6) and used for changing the directions of the B-axis transmission system and the T-axis transmission system.
2. A synchronous belt commutated robot wrist according to claim 1, wherein: the T-axis speed reduction output assembly comprises a T-axis speed reducer input bevel gear (9), a T-axis speed reducer (10), a sealing outer sleeve (11) and a tool mounting flange (12), wherein the T-axis speed reducer input bevel gear (9) is fixedly connected to an input shaft of the T-axis speed reducer (10), the T-axis speed reducer input bevel gear (9) is meshed with a reversing bevel gear (13), the sealing outer sleeve (11) is fixedly connected with a swinging body (6), and the tool mounting flange (12) is mounted on the input shaft of the T-axis speed reducer (10).
3. A synchronous belt commutated robot wrist according to claim 1, wherein: synchronous belt switching-over subassembly still include B axle input belt pulley (4), T axle input belt pulley (5), B axle drive belt pulley (17), T axle synchronous belt (18) and B axle synchronous belt (19), B axle input belt pulley (4) fixed connection is on B axle input (2), T axle input belt pulley (5) fixed connection is on T axle input (3), T axle drive belt pulley (16) are connected through T axle synchronous belt (18) transmission with T axle input belt pulley (5), B axle drive belt pulley (17) are connected through B axle synchronous belt (19) transmission with B axle input belt pulley (4), T axle switching-over subassembly (20) are used for 90 commutations and the tensioning of T axle synchronous belt (18), B axle switching-over subassembly (21) are used for 90 commutations and the tensioning of B axle synchronous belt (19).
4. A synchronous belt commutated robot wrist according to claim 3, wherein: the B-axis reversing assembly (21) and the T-axis reversing assembly (20) are connected to the rear inner side of the U-shaped fork niche of the mounting base (1) in a sliding mode.
5. A synchronous belt commutated robot wrist as claimed in claim 4, wherein: the T-axis reversing assembly (20) and the B-axis reversing assembly (21) are identical in structure, the T-axis reversing assembly (20) and the B-axis reversing assembly (21) respectively comprise a mandrel (21.2), an upper reversing wheel (21.5), a lower reversing wheel (21.1), a connecting block (21.4) and an adjusting bolt (21.3), the mandrel (21.1) is used for fixing the reversing wheel, and the connecting block (21.4) and the adjusting bolt (21.3) are used for adjusting the position of the reversing assembly; the upper reversing wheel (21.5) is used for a flat belt pulley for reversing and tensioning the back of a synchronous belt, the lower reversing wheel (21.1) is used for a synchronous belt pulley for reversing and tensioning the tooth surface of the synchronous belt, the upper reversing wheel (21.5) and the lower reversing wheel (21.1) are respectively connected to two sides of the mandrel (21.2) in a rotating mode, the connecting block (21.4) is connected to the middle of the mandrel (21.2) in a sliding mode, the adjusting bolt (21.3) is connected to the rear wall of the niche of the mounting seat (1) in a rotating mode, the supporting bearing is connected with the mandrel (21.2) through a spring check ring, a locking nut and a sleeve, and the diameters of the upper reversing wheel (21.5) and the lower reversing wheel (21.1) are the same.
6. A synchronous belt commutated robot wrist according to claim 1, wherein: the inner side of the bottom of a U-shaped fork of the mounting seat (1) is provided with a boss for mounting a B-shaft input bearing (2.1), the B-shaft input bearing (2.1) is connected with the B-shaft input (2), the inner ring of the B-shaft input bearing (2.1) is fixedly connected with the B-shaft input (2) through a B-shaft input belt pulley (4), the T-shaft input (3) is connected with a T-shaft input bearing (3.1), the outer ring of the T-shaft input bearing (3.1) is fixedly connected with the B-shaft input (2), and the inner ring of the T-shaft input bearing (3.1) is fixedly connected with the T-shaft input (3) through a T-shaft input belt pulley (5);
the rear inner side of the U-shaped fork niche of the mounting seat (1) is provided with a guide groove for mounting a B-shaft reversing assembly (21) and a T-shaft reversing assembly (20) in a front-and-back sliding mode, the rear wall of the mounting seat (1) is provided with mounting holes for mounting the B-shaft reversing assembly (21) and adjusting bolts for the T-shaft reversing assembly (20), the front side of the U-shaped fork niche of the mounting seat (1) is provided with a fixing hole for mounting a T-shaft transmission assembly, and the U-shaped fork niche-free side of the mounting seat (1) is provided with a fixing hole for mounting a B-shaft speed reducer (7) and a mounting hole for mounting a front bearing (8.1) of a B-shaft speed reducer input shaft (8).
7. A synchronous belt commutated robot wrist according to claim 1, wherein: one end of the swinging body (6) is provided with a flange hole for mounting a B-axis speed reducer (7) and a boss for mounting a main bearing (8.1) of an input shaft (8) of the B-axis speed reducer, the other end of the swinging body (6) is provided with a flange hole for mounting the B-axis bearing (6.1), and the side section of the swinging body (6) is provided with a flange hole connected with a T-axis speed reducer (10).
8. A synchronous belt commutated robot wrist according to claim 7, wherein: the B-axis speed reducer (7) is a harmonic speed reducer with a crossed roller bearing, a rigid wheel of the B-axis speed reducer (7) and a CRB inner ring are fixed on the swinging body (6), a flexible wheel of the B-axis speed reducer (7) and a CRB outer ring are fixed on the mounting seat (1), and an input shaft (8) of the B-axis speed reducer is rotatably connected on a boss of the swinging body (6).
9. A synchronous belt commutated robot wrist according to claim 7, wherein: be equipped with front bearing (8.2) and rear bearing (8.3) on B axle reduction gear input shaft (8), on front bearing (8.2) set up the U type fork in mount pad (1), rear bearing (8.3) are installed in T axle drive assembly hole, main bearing (8.1) are used for the radial and axial positioning of B axle reduction gear input shaft (8), and front bearing (8.2) and rear bearing (8.3) are used for the radial positioning of B axle reduction gear input shaft (8).
10. A synchronous belt commutated robot wrist according to claim 1, wherein: fixing base (14) be the cavity dish, the outer terminal surface of fixing base (14) is equipped with fixed screw, fixing base (14) are fixed on mount pad (1) through bolt and fixed screw threaded connection, fixing base (14) inboard is equipped with the flange and the screw that are used for the bearing outer race of fixed axle sleeve (15), clamping ring, and fixing base (14) outside is equipped with the flange and the screw that are used for fixed swing body (6) auxiliary stay B axle bearing (6.1) inner circle, clamping ring.
11. A synchronous belt commutated robot wrist as claimed in claim 2, wherein: the T-axis reducer (10) adopts an axis input unit type harmonic reducer with a shell, an input bevel gear (9) of the T-axis reducer is fixedly connected with an input axis of the T-axis reducer (10), the shell of the T-axis reducer (10) is installed on the swinging body (6) together with the flexible wheel and the CRB outer ring by using a fixing bolt, and the output of the T-axis reducer (10) is fixedly connected with the rigid wheel and the CRB inner ring by using a tool installation flange (12); and the sealing outer sleeve (11) is fixed on the swinging body (6) and serves as a protective shell of the T-axis speed reducer (10) and the tool mounting flange (12).
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| CN202111227360.1A CN113954110B (en) | 2021-10-21 | 2021-10-21 | Robot wrist with synchronous belt reversing function |
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| CN202111227360.1A CN113954110B (en) | 2021-10-21 | 2021-10-21 | Robot wrist with synchronous belt reversing function |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05131388A (en) * | 1991-11-07 | 1993-05-28 | Hitachi Ltd | Wrist device for industrial robot |
| CN106041897A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Intelligent cooperation dual-arm robot |
| CN205734925U (en) * | 2016-06-23 | 2016-11-30 | 陈金鑫 | A kind of mechanical arm adjusting means |
| CN106313097A (en) * | 2016-11-09 | 2017-01-11 | 常州机电职业技术学院 | Unit assembly type robot wrist |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
-
2021
- 2021-10-21 CN CN202111227360.1A patent/CN113954110B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05131388A (en) * | 1991-11-07 | 1993-05-28 | Hitachi Ltd | Wrist device for industrial robot |
| CN205734925U (en) * | 2016-06-23 | 2016-11-30 | 陈金鑫 | A kind of mechanical arm adjusting means |
| CN106041897A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Intelligent cooperation dual-arm robot |
| CN106313097A (en) * | 2016-11-09 | 2017-01-11 | 常州机电职业技术学院 | Unit assembly type robot wrist |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
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| CN113954110B (en) | 2023-07-28 |
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