CN204954853U - Industrial robot wrist cavity biasing structure - Google Patents
Industrial robot wrist cavity biasing structure Download PDFInfo
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- CN204954853U CN204954853U CN201520655960.1U CN201520655960U CN204954853U CN 204954853 U CN204954853 U CN 204954853U CN 201520655960 U CN201520655960 U CN 201520655960U CN 204954853 U CN204954853 U CN 204954853U
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Abstract
The utility model relates to an industrial robot wrist cavity biasing structure, including terminal output subassembly, an internal jacket, 6 the axle wrist body, 6 transition drive assembly, 5 the brake power subassembly, 5 axle cross roller bearing locking flange, 4 the axle wrist body, 5 axle transition drive assembly, two numbers 6 transition drive assembly, 4 the brake power subassembly, trumpeter's wrist connecting piece, two trumpeter's wrist connecting pieces, 4 the axle input module, 5 the axle input module, 6 the axle input module, no. Two internal jackets, a O type sealing washer, no. Three inner sheaths, a O type sealing washer, no. Four inner sheaths, no. Two O type sealing washers, two numbers 6 transition drive assembly covers are in no. Four inner sheath left sides, two trumpeter's wrist connecting pieces cover is on no. Four inner sheath right sides. The utility model discloses utilizing servo motor control, driving the wrist through a series of kind of drive such as speed reducers and operate, 5 can unrestrictedly be rotated, and the beat of can improving production is raised the efficiency, satisfies the spray technique requirement.
Description
Technical field
The utility model relates to industrial robot wrist part structure technical field, is a kind of industrial robot wrist hollow bias structure specifically.
Background technology
The performance of industrial robot body construction to robot plays a crucial role, and for some special industries, as spraying industry, requires that robot wrist mobile type is strong, can complete spraying operation that is complex-curved and small space.Traditional robot wrist adopts the wrist part structure of dual-gripper, this structure limits the actuating range of 5 axles to a great extent, the original action only needing action 5 axle just can realize must transfer could be realized by other axles of action, this drives structure adds the pitch time of operation undoubtedly in actual production, cannot meet the complex-curved spraying needs of small space, spray efficiency is difficult to improve.In addition; due to particular surroundings restriction of spraying paint; all fluid hoses, solution conduit, tracheae and other cables all need to pass from robot interior; and directly receive on end effector of robot (as spray gun, high-speed rotary cup), for ensureing the clean and tidy of robot, and this wire laying mode is easy to safeguard; pipeline is avoided to be suspended from robot arm outside; cause a hidden trouble to production safety, cable and pipeline can not effectively wrap up by the wrist part structure that traditional double supports, and are difficult to play a protective role.
Summary of the invention
The purpose of this utility model is to provide a kind of structure, and for realizing the unrestricted motion of 4 axles, 5 axles and 6 axles, and mechanical wrist has the hollow structure holding cable and pipeline, i.e. a kind of industrial robot wrist hollow bias structure.
Technical problem to be solved in the utility model realizes by the following technical solutions:
A kind of industrial robot wrist hollow bias structure, comprise end output precision, an internal jacket, 6 axle wrist bodies, 6 axle transition transmission components, 5 axle output precisions, 5 axle crossed roller bearing locking flanges, 4 axle wrist bodies, 5 axle transition transmission components, No. two 6 axle transition transmission components, 4 axle output precisions, one trumpeter's wrist connector, two trumpeter's wrist connectors, 4 axle input modules, 5 axle input modules, 6 axle input modules, No. two internal jackets, an O RunddichtringO, No. three inner sheaths, an O RunddichtringO, No. four inner sheaths, No. two O RunddichtringOs.
Described No. two 6 axle transition transmission components are enclosed within the left of No. four inner sheaths, and described two trumpeter's wrist connectors are enclosed within the right side of No. four inner sheaths, described 4 axle input modules, 5 axle input modules, 6 axle input modules are all inserted in two trumpeter's wrist connectors, and are all positioned at above No. two 6 axle transition transmission components, described trumpeter's wrist connector is arranged on two trumpeter's wrist connector left sides, and trumpeter's wrist connector left end also installs 4 axle output precisions, and described 5 axle transition transmission components are enclosed within the left of No. two 6 axle transition transmission components, described 4 axle wrist bodies are arranged on 5 axle transition transmission component left ends, and described 5 axle crossed roller bearing locking flanges are arranged on 4 axle wrist body left ends, described 5 axle output precisions are arranged on 5 axle crossed roller bearing locking flange left ends, it is peripheral that 5 axle output precisions are enclosed within 6 axle transition transmission components, described 6 axle transition transmission component left ends install No. two internal jackets, described 6 axle wrist bodies are enclosed within No. two internal jacket peripheries, 6 axle wrist body right-hand members are arranged on 5 axle output precision left ends, 6 axle wrist body left ends install end output precision, it is inner that a described internal jacket is arranged on end output precision, end output precision right-hand member is stuck in No. two internal jackets, No. three inner sheaths are installed in described 4 axle wrist body inside, the right-hand member of described No. three inner sheaths is stuck in No. four inner sheath left ends.
Described end output precision comprises end flange, counter flange, oil sealing, locking flange, connector, a bugle contact ball bearing and a bevel gear, and described end flange is stuck in counter flange left end; A described bevel gear is arranged on counter flange right-hand member; A described bugle contact ball bearing is enclosed within a bevel gear; Described connector is enclosed within a bugle contact ball bearing; A described locking flange is stuck in connector left end, and a locking flange is pressed in oil sealing periphery.
A described internal jacket comprises internal jacket and is enclosed within the O type circle of internal jacket right part.
Described No. two 6 axle transition transmission components comprise No. two bevel gears, be arranged on No. three bevel gears of No. two bevel gear right-hand members and be enclosed within two bugle contact ball bearings of No. two bevel gears, No. three bevel gear peripheries.
Described 5 axle output precisions comprise No. four bevel gears, No. two locking flanges, crossed roller bearing, a helical gear; A described helical gear is arranged on No. four bevel gear right-hand members; A described crossed roller bearing is enclosed within a helical gear and No. four bevel gear peripheries; Described No. two locking flanges are enclosed within a crossed roller bearing periphery.
Described 5 axle transition transmission components (8) comprise No. five bevel gears, No. two helical gears, No. two crossed roller bearings, No. three lockings flange, transition support sets; Described No. two helical gears are stuck in transition support set left end; Described No. five bevel gears are stuck in No. two helical gear left ends; Described No. two crossed roller bearings are enclosed within No. two helical gears; No. two crossed roller bearings and No. two helical gears are stuck by described No. three locking flanges.
Described 6 axle transition transmission components comprise No. six bevel gears, three bugle contact ball bearings, the first retainer ring, coupling sleeve, the second retainer ring, No. three helical gears; Described No. three helical gears are arranged on coupling sleeve right-hand member; Described No. six bevel gears are arranged on the left end of coupling sleeve; Described first Fixing shrink ring is at coupling sleeve left part; Described second Fixing shrink ring is at coupling sleeve right part; Described three bugle contact ball bearings are enclosed within coupling sleeve periphery.
Described 4 axle output precisions comprise 4 axles and export fluted disc and be nested in 4 axle crossed roller bearing retainer rings in 4 axles output fluted discs.
Described 4 axle input modules comprise 4 axle input gear axles, deep groove ball bearing, 4 eccentric shaft flanges, axle check ring, a jaw coupling; Described 4 eccentric shaft flanges are enclosed within 4 axle input gear axles across a deep groove ball bearing; A described axle check ring is stuck on 4 axle input gear axles, and an axle check ring is positioned at a deep groove ball bearing right-hand member; A described jaw coupling is arranged on 4 axle input gear axle right-hand members; Described 5 axle input modules are identical with 4 axle input module structures.
Described 6 axle input modules comprise 6 axle input gear axles, No. two deep groove ball bearings be enclosed within 6 axle input gear axles, the 6 eccentric shaft flanges be enclosed within No. two deep groove ball bearings, be stuck in No. two axle check rings on the right side of No. two deep groove ball bearings and be arranged on No. two jaw couplings of 6 axle input gear axle right-hand members.
The beneficial effects of the utility model are: it is unrestricted that the utility model can realize each axle range of movement, is adapted to narrow range work, and improve the adaptability of mechanical wrist, operating efficiency improves greatly.The utility model structure hollow, can be used for protection through pipeline wherein, also can reduce construction weight, improve mechanical arm bearing capacity.The axis of 4 axles, 5 axles and 6 axles, three axles adopts oblique non-spherical structure, makes each axle can 360 ° of rotation, ensureing, without interfering, can not be bent by pipeline wherein, being particularly suitable for spraying industry.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is internal structure schematic diagram of the present utility model;
Fig. 3 is the internal structure schematic diagram of end output precision of the present utility model;
Fig. 4 is the stereogram of an internal jacket of the present utility model;
Fig. 5 is the stereogram of 6 axle wrist bodies of the present utility model;
Fig. 6 is the internal structure schematic diagram of 6 axle transition transmission components of the present utility model;
Fig. 7 is the internal structure schematic diagram of 5 axle output precisions of the present utility model;
Fig. 8 is the stereogram of 5 axle crossed roller bearing locking flanges of the present utility model;
Fig. 9 is the stereogram of 4 axle wrist bodies of the present utility model;
Figure 10 is the internal structure schematic diagram of 5 axle transition transmission components of the present utility model;
Figure 11 is the internal structure schematic diagram of No. two 6 axle transition transmission components of the present utility model;
Figure 12 is the internal structure schematic diagram of 4 axle output precisions of the present utility model;
Figure 13 is the stereogram of trumpeter's wrist connector of the present utility model;
Figure 14 is the stereogram of two trumpeter's wrist connectors of the present utility model;
Figure 15 is the internal structure schematic diagram of 4 axle input modules of the present utility model;
Figure 16 is the internal structure schematic diagram of 6 axle input modules of the present utility model;
Figure 17 is the stereogram of No. two internal jackets of the present utility model;
Figure 18 is the stereogram of No. three inner sheaths of the present utility model;
Figure 19 is the stereogram of No. four inner sheaths of the present utility model.
Detailed description of the invention
The technological means realized to make the utility model and creation characteristic are easy to understand, and set forth further below to the utility model.
As shown in Figure 1 to Figure 2, a kind of industrial robot wrist hollow bias structure, comprise end output precision 1, an internal jacket 2, 6 axle wrist bodies 3, 6 axle transition transmission components 4, 5 axle output precisions 5, 5 axle crossed roller bearing locking flanges 6, 4 axle wrist bodies 7, 5 axle transition transmission components 8, No. two 6 axle transition transmission components 9, 4 axle output precisions 10, one trumpeter's wrist connector 11, two trumpeter's wrist connectors 12, 4 axle input modules 13, 5 axle input modules 15, 6 axle input modules 14, No. two internal jackets 16, an O RunddichtringO 17, No. three inner sheaths 18, an O RunddichtringO 19, No. four inner sheaths 20, No. two O RunddichtringOs 21.
Described No. two 6 axle transition transmission components 9 are enclosed within the left of No. four inner sheaths 20, and described two trumpeter's wrist connectors 12 are enclosed within the right side of No. four inner sheaths 20; Described 4 axle input module 13,5 axle input module 15,6 axle input modules 14 are all inserted in two trumpeter's wrist connectors 12, and are all positioned at above No. two 6 axle transition transmission components 9; Described No. two 6 axle transition transmission components 9 coordinate with 5 axle output precisions 5, realize moment of torsion transmission and output by bevel gear set.Described trumpeter's wrist connector 11 is arranged on two trumpeter's wrist connector 12 left sides, one trumpeter's wrist connector 11 and two trumpeter's wrist connectors 12 all play a part to support and fixing respective inner body, and described two trumpeter's wrist connectors 12 are also for fixing 4 axle input module 13,5 axle input module 15 and 6 axle input modules 14.Described trumpeter's wrist connector 11 left end also installs 4 axle output precisions 10, and described 5 axle transition transmission components 8 are enclosed within the left of No. two 6 axle transition transmission components 9; Described 4 axle wrist bodies 7 are arranged on 5 axle transition transmission component 8 left ends, and described 5 axle crossed roller bearing locking flanges 6 are arranged on 4 axle wrist body 7 left ends; Described 5 axle output precisions 5 are arranged on 5 axle crossed roller bearing locking flange 6 left ends, and it is peripheral that 5 axle output precisions 5 are enclosed within 6 axle transition transmission components 4, and described 6 axle transition transmission component 4 left ends install No. two internal jackets 16; It is peripheral that described 6 axle wrist bodies 3 are enclosed within No. two internal jackets 16, plays a part support inner body and be connected 5 axle output precisions 5.6 axle wrist body 3 right-hand members are arranged on 5 axle output precision 5 left ends, 6 axle wrist body 3 left ends install end output precision 1, it is inner that a described internal jacket 2 is arranged on end output precision 1, and be screwed, end output precision 1 right-hand member is stuck in No. two internal jackets 16, No. three inner sheaths 18 are installed in described 4 axle wrist body 7 inside, and the right-hand member of described No. three inner sheaths 18 is stuck in No. four inner sheath 20 left ends.
As shown in Figure 3, described end output precision 1 comprises end flange 1-1, counter flange 1-2, oil sealing 1-3, locking flange 1-4, connector 1-5, a bugle contact ball bearing 1-6 and No. one bevel gear 1-7.Described end flange 1-1 is stuck in counter flange 1-2 left end, and end flange 1-1 is used for installing external end effector; A described bevel gear 1-7 is arranged on counter flange 1-2 right-hand member; A described bugle contact ball bearing 1-6 is enclosed within a bevel gear 1-7; Described connector 1-5 is enclosed within a bugle contact ball bearing 1-6.A described locking flange 1-4 is stuck in connector 1-5 left end, and a locking flange 1-4 is pressed in oil sealing 1-3 periphery, plays a part to fix a bugle contact ball bearing 1-6.During use, a bevel gear 1-7 transmits torque to end flange 1-1 by counter flange 1-2.
As shown in Figure 4, a described internal jacket 2 comprises internal jacket 2-1 and is enclosed within the O type circle 2-2 of internal jacket 2-1 right part.
As shown in Figure 6, described No. two 6 axle transition transmission components 4 comprise No. two bevel gear 4-1, are arranged on No. three bevel gear 4-3 of No. two bevel gear 4-1 right-hand members and are enclosed within two bugle contact ball bearing 4-2 of No. two bevel gear 4-1, No. three bevel gear 4-3 peripheries.
As shown in Figure 7, described 5 axle output precisions 5 comprise No. four bevel gear 5-1, No. two locking flange 5-2, crossed roller bearing 5-3, a helical gear 5-4; A described helical gear 5-4 is arranged on No. four bevel gear 5-1 right-hand members; It is peripheral that a described crossed roller bearing 5-3 is enclosed within a helical gear 5-4 and No. four bevel gear 5-1; It is peripheral that described No. two locking flange 5-2 are enclosed within a crossed roller bearing 5-3.During use, making No. two to lock flange 5-2 by screw is fixed on 4 axle wrist bodies 7, No. two locking flange 5-2 are connected by a crossed roller bearing 5-3 with driving member No. four bevel gear 5-1, a crossed roller bearing 5-3 can bear radial and two-way axial load, and tilting moment, described No. four bevel gear 5-1 are by transmitting torque to a helical gear 5-4 with the engagement of No. five bevel gear 8-1 in 5 axle transition transmission components 8.
As shown in Figure 10, described 5 axle transition transmission components 8 comprise No. five bevel gear 8-1, No. two helical gear 8-2, No. two crossed roller bearing 8-3, No. three locking flange 8-4, transition support set 8-5; Described No. two helical gear 8-2 are stuck in transition support set 8-5 left end; Described No. five bevel gear 8-1 are stuck in No. two helical gear 8-2 left ends; Described No. two crossed roller bearing 8-3 are enclosed within No. two helical gear 8-2; A No. two crossed roller bearing 8-3 and No. two helical gear 8-2 is stuck by described No. three locking flange 8-4.During use, No. three locking flange 8-4 are fixed by screw, and transition support set 8-5 plays bearing position-limiting action, and No. two helical gear 8-2 and 5 axle input modules 15 engage, and transmitting torque is on No. five bevel gear 8-1.
As shown in figure 11, described 6 axle transition transmission components 9 comprise No. six bevel gear 9-1, three bugle contact ball bearing 9-2, the first retainer ring 9-3, coupling sleeve 9-4, the second retainer ring 9-5, No. three helical gear 9-6; Described No. three helical gear 9-6 are arranged on coupling sleeve 9-4 right-hand member.Described No. six bevel gear 9-1 are arranged on the left end of coupling sleeve 9-4.Described first retainer ring 9-3 is enclosed within coupling sleeve 9-4 left part.Described second retainer ring 9-5 is enclosed within coupling sleeve 9-4 right part.It is peripheral that described three bugle contact ball bearing 9-2 are enclosed within coupling sleeve 9-4.During use, 6 axle transition transmission components 9 are arranged on 5 axle transition transmission components 8 inside by three bugle contact ball bearing 9-2, and spacing by the first retainer ring 9-3, No. three helical gear 9-6 and 6 axle input modules 14 engage, and torque is delivered to No. six bevel gear 9-1 by coupling sleeve 9-4.
As shown in figure 12, described 4 axle output precisions 10 comprise 4 axles output fluted disc 10-1 and are nested in 4 axle crossed roller bearing retainer ring 10-2 in 4 axles output fluted disc 10-1.During use, 4 axle crossed roller bearing retainer ring 10-2 fix by 4 axle output precisions 10 screw, and 4 axle crossed roller bearing retainer ring 10-2 play axial limiting effect.The 4 axle input gear axle 13-1 that described 4 axles export fluted disc 10-1 and 4 axle input modules 13 engage, and transmitting torque, drives whole 4 axle input modules 13 to rotate.
As shown in figure 15, described 4 axle input modules 13 comprise 4 axle input gear axle 13-1, deep groove ball bearing 13-2,4 eccentric shaft flange 13-3, axle check ring 13-4, a jaw coupling 13-5.Described 4 eccentric shaft flange 13-3 are enclosed within 4 axle input gear axle 13-1 across a deep groove ball bearing 13-2.A described axle check ring 13-4 is stuck on 4 axle input gear axle 13-1, and an axle check ring 13-4 is positioned at a deep groove ball bearing 13-2 right-hand member.A described jaw coupling 13-5 is arranged on 4 axle input gear axle 13-1 right-hand members.During use, the helical gear of 4 axle input gear axle 13-1 ends and 4 axles export fluted disc 10-1 engagement, and the moment of torsion of external motor and power transimission are to 4 axle output precisions 10 the most at last.
Described 5 axle input modules 15 are identical with 4 axle input module 13 structures, by 5 axle transition transmission components 8 by the moment of torsion of external motor and power transimission to 5 axle output precisions 5.
As shown in figure 16, described 6 axle input modules 14 comprise 6 axle input gear axle 14-1, No. two deep groove ball bearing 14-2 be enclosed within 6 axle input gear axle 14-1, the 6 eccentric shaft flange 14-3 be enclosed within No. two deep groove ball bearing 14-2, are stuck in No. two axle check ring 14-4 on the right side of No. two deep groove ball bearing 14-2 and are arranged on No. two jaw coupling 14-5 of 6 axle input gear axle 14-1 right-hand members.During use, 6 eccentric shaft flange 14-3 and two trumpeter's wrist connectors 12 are connected and fixed.Described No. two jaw coupling 14-5 one end are connected with external servomotor and speed reducer output shaft, and the other end is connected with 6 axle input gear axle 14-1.No. three helical gear 9-6 on the helical gear that described 6 axle input gear axle 14-1 left parts are provided with and No. two 6 axle transition transmission components 9 engage, and the moment of torsion of motor and power transimission are to end output precision 1 the most at last.
More than show and describe general principle of the present utility model, principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; the just principle of the present utility model described in above-described embodiment and description; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (10)
1. an industrial robot wrist hollow bias structure, it is characterized in that: comprise end output precision (1), an internal jacket (2), 6 axle wrist bodies (3), 6 axle transition transmission components (4), 5 axle output precisions (5), 5 axle crossed roller bearings locking flange (6), 4 axle wrist bodies (7), 5 axle transition transmission components (8), No. two 6 axle transition transmission components (9), 4 axle output precisions (10), one trumpeter's wrist connector (11), two trumpeter's wrist connectors (12), 4 axle input modules (13), 5 axle input modules (15), 6 axle input modules (14), No. two internal jackets (16), an O RunddichtringO (17), No. three inner sheaths (18), an O RunddichtringO (19), No. four inner sheaths (20), No. two O RunddichtringOs (21),
Described No. two 6 axle transition transmission components (9) are enclosed within No. four inner sheath (20) left sides, and described two trumpeter's wrist connectors (12) are enclosed within No. four inner sheath (20) right sides, described 4 axle input modules (13), 5 axle input modules (15), 6 axle input modules (14) are all inserted in two trumpeter's wrist connectors (12), and are all positioned at No. two 6 axle transition transmission component (9) tops, described trumpeter's wrist connector (11) is arranged on two trumpeter's wrist connector (12) left sides, one trumpeter's wrist connector (11) left end also installs 4 axle output precisions (10), and described 5 axle transition transmission components (8) are enclosed within No. two 6 axle transition transmission component (9) left sides, described 4 axle wrist bodies (7) are arranged on 5 axle transition transmission component (8) left ends, and described 5 axle crossed roller bearings locking flange (6) are arranged on 4 axle wrist body (7) left ends, described 5 axle output precisions (5) are arranged on 5 axle crossed roller bearing locking flange (6) left ends, it is peripheral that 5 axle output precisions (5) are enclosed within 6 axle transition transmission components (4), described 6 axle transition transmission component (4) left ends install No. two internal jackets (16), it is peripheral that described 6 axle wrist bodies (3) are enclosed within No. two internal jackets (16), 6 axle wrist body (3) right-hand members are arranged on 5 axle output precision (5) left ends, 6 axle wrist body (3) left ends install end output precision (1), it is inner that a described internal jacket (2) is arranged on end output precision (1), end output precision (1) right-hand member is stuck in No. two internal jackets (16), No. three inner sheaths (18) are installed in described 4 axle wrist body (7) inside, the right-hand member of described No. three inner sheaths (18) is stuck in No. four inner sheath (20) left ends.
2. a kind of industrial robot wrist hollow bias structure according to claim 1, it is characterized in that: described end output precision (1) comprises end flange (1-1), counter flange (1-2), oil sealing (1-3), locking flange (1-4), connector (1-5), a bugle contact ball bearing (1-6) and a bevel gear (1-7), and described end flange (1-1) is stuck in counter flange (1-2) left end; A described bevel gear (1-7) is arranged on counter flange (1-2) right-hand member; A described bugle contact ball bearing (1-6) is enclosed within a bevel gear (1-7); Described connector (1-5) is enclosed within a bugle contact ball bearing (1-6); Described locking flange (1-4) is stuck in connector (1-5) left end, and locking flange (1-4) is pressed in oil sealing (1-3) periphery.
3. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: a described internal jacket (2) comprises internal jacket (2-1) and is enclosed within the O type circle (2-2) of internal jacket (2-1) right part.
4. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: described No. two 6 axle transition transmission components (4) comprise No. two bevel gears (4-1), be arranged on No. three bevel gears (4-3) of No. two bevel gear (4-1) right-hand members and be enclosed within No. two bevel gears (4-1), two bugle contact ball bearings (4-2) that No. three bevel gears (4-3) are peripheral.
5. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: described 5 axle output precisions (5) comprise No. four bevel gears (5-1), No. two lockings flange (5-2), a crossed roller bearing (5-3), a helical gear (5-4); A described helical gear (5-4) is arranged on No. four bevel gear (5-1) right-hand members; A described crossed roller bearing (5-3) is enclosed within a helical gear (5-4) and No. four bevel gears (5-1) are peripheral; It is peripheral that described No. two lockings flange (5-2) are enclosed within a crossed roller bearing (5-3).
6. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: described 5 axle transition transmission component (8) (8) comprise No. five bevel gears (8-1), No. two helical gears (8-2), No. two crossed roller bearings (8-3), No. three lockings flange (8-4), transition support set (8-5); Described No. two helical gears (8-2) are stuck in transition support set (8-5) left end; Described No. five bevel gears (8-1) are stuck in No. two helical gear (8-2) left ends; Described No. two crossed roller bearings (8-3) are enclosed within No. two helical gears (8-2); No. two crossed roller bearings (8-3) and No. two helical gears (8-2) are stuck by described No. three lockings flange (8-4).
7. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: described 6 axle transition transmission components (9) comprise No. six bevel gears (9-1), three bugle contact ball bearings (9-2), the first retainer ring (9-3), coupling sleeve (9-4), the second retainer ring (9-5), No. three helical gears (9-6); Described No. three helical gears (9-6) are arranged on coupling sleeve (9-4) right-hand member; Described No. six bevel gears (9-1) are arranged on the left end of coupling sleeve (9-4); Described first retainer ring (9-3) is enclosed within coupling sleeve (9-4) left part; Described second retainer ring (9-5) is enclosed within coupling sleeve (9-4) right part; It is peripheral that described three bugle contact ball bearings (9-2) are enclosed within coupling sleeve (9-4).
8. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: described 4 axle output precisions (10) comprise 4 axles and export fluted disc (10-1) and be nested in 4 axle crossed roller bearing retainer rings (10-2) in 4 axles output fluted disc (10-1).
9. a kind of industrial robot wrist hollow bias structure according to claim 1, is characterized in that: described 4 axle input modules (13) comprise 4 axle input gear axles (13-1), deep groove ball bearing (13-2), 4 eccentric shaft flanges (13-3), an axle check ring (13-4), a jaw coupling (13-5); Described 4 eccentric shaft flanges (13-3) are enclosed within 4 axle input gear axles (13-1) across a deep groove ball bearing (13-2); A described axle check ring (13-4) is stuck on 4 axle input gear axles (13-1), and an axle check ring (13-4) is positioned at deep groove ball bearing (13-2) right-hand member; A described jaw coupling (13-5) is arranged on 4 axle input gear axle (13-1) right-hand members; Described 5 axle input modules (15) are identical with 4 axle input module (13) structures.
10. a kind of industrial robot wrist hollow bias structure according to claim 1, it is characterized in that: described 6 axle input modules (14) comprise 6 axle input gear axles (14-1), be enclosed within No. two deep groove ball bearings (14-2) on 6 axle input gear axles (14-1), be enclosed within 6 eccentric shaft flanges (14-3) on No. two deep groove ball bearings (14-2), be stuck in No. two axle check rings (14-4) on No. two deep groove ball bearing (14-2) right sides and be arranged on No. two jaw couplings (14-5) of 6 axle input gear axle (14-1) right-hand members.
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| CN201520655960.1U CN204954853U (en) | 2015-08-26 | 2015-08-26 | Industrial robot wrist cavity biasing structure |
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| CN201520655960.1U CN204954853U (en) | 2015-08-26 | 2015-08-26 | Industrial robot wrist cavity biasing structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150239A (en) * | 2015-08-26 | 2015-12-16 | 芜湖希美埃机器人技术有限公司 | Hollow bias structure of wrist of industrial robot |
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN106426264A (en) * | 2016-11-09 | 2017-02-22 | 常州机电职业技术学院 | Robot wrist with built-in transmission shaft |
| CN109895132A (en) * | 2019-04-18 | 2019-06-18 | 成都卡诺普自动化控制技术有限公司 | A kind of final drive structure of industrial machine human wrist drive mechanism |
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2015
- 2015-08-26 CN CN201520655960.1U patent/CN204954853U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150239A (en) * | 2015-08-26 | 2015-12-16 | 芜湖希美埃机器人技术有限公司 | Hollow bias structure of wrist of industrial robot |
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN106426264A (en) * | 2016-11-09 | 2017-02-22 | 常州机电职业技术学院 | Robot wrist with built-in transmission shaft |
| CN106426264B (en) * | 2016-11-09 | 2018-10-02 | 常州机电职业技术学院 | Robot wrist with built-in transmission shaft |
| CN109895132A (en) * | 2019-04-18 | 2019-06-18 | 成都卡诺普自动化控制技术有限公司 | A kind of final drive structure of industrial machine human wrist drive mechanism |
| CN109895132B (en) * | 2019-04-18 | 2024-06-11 | 成都卡诺普机器人技术股份有限公司 | Tail end transmission structure of industrial robot wrist transmission structure |
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Address after: 241000 Anhui province Wuhu Jiujiang City Jiujiang District Economic Development Zone Wan Chun Road No. 96 Patentee after: Ximeiai (Wuhu) Robot Technology Co Ltd Address before: 241000 Anhui province Wuhu Jiujiang City Jiujiang District Economic Development Zone East Road No. 8 leap Patentee before: Wuhu Xi Meiai Robotics Technology Co., Ltd. |