CN217891005U

CN217891005U - Industrial robot wrist structure and industrial robot

Info

Publication number: CN217891005U
Application number: CN202121586589.XU
Authority: CN
Inventors: 何龙; 陈恩泽; 李祥; 谷菲; 朱路生; 李良军
Original assignee: Chengdu Kanop Robot Technology Co ltd
Current assignee: Chengdu Kanop Robot Technology Co ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2022-11-25
Anticipated expiration: 2031-07-13

Abstract

The utility model discloses an industrial robot wrist structure and industrial robot, the wrist structure includes a wrist housing, a fixed flange, a brake, a motor mounting plate, a first harmonic speed reducer and a servo motor, the fixed flange is mounted on the wrist housing to form a holding cavity, the servo motor is located in the holding cavity and is mounted on the upper end face of the fixed flange through the motor mounting plate; the brake is sleeved on the shaft of the servo motor and is positioned between the motor mounting plate and the fixed flange; the first harmonic speed reducer is installed on the lower end face of the fixing flange and connected with a shaft of the servo motor, and the wrist shell, the servo motor, the motor mounting plate, the brake, the fixing flange and the first harmonic speed reducer are all installed coaxially. The utility model discloses owing to adopt the structure that the motor directly linked, not only reduced part quantity, part structure is simpler, has improved assembly efficiency, has reduced cost of maintenance, has still improved the action response speed and the transmission precision of this joint.

Description

Industrial robot wrist structure and industrial robot

Technical Field

The utility model relates to an industrial robot technical field especially relates to an industrial robot wrist structure and industrial robot.

Background

The wrist transmission part of the robot is used for connecting the robot arm and the end actuating mechanism, is arranged at the extreme end of the robot joint, has similar action with the wrist of a human body, and is used for adjusting or changing the posture of the end so as to enable the end actuating mechanism of the robot to meet specific action requirements, and therefore, the wrist has independent freedom degree. Because the transmission precision inside the wrist affects the precision and stability of the whole robot, the transmission structure is designed to be simple and compact under the condition of meeting the structural strength and the use requirement, and the volume and the weight of the appearance and the internal structure of the wrist are reduced, so that the positioning precision of the wrist is improved.

The present robot wrist is characterized in that the tail end is directly connected with an actuating mechanism, and an auxiliary mechanism is arranged outside the wrist, so that the tail end of the wrist is limited in overall dimension, the size of the tail end is large, the tail end of the wrist is sensitive to the load performance of the whole robot, the weight of the wrist exceeds the standard, the workload is reduced, the efficiency is low, and the energy consumption is excessive.

At present, a bevel gear transmission structure is arranged in a six-shaft structure, the transmission precision of the structure needs to be ensured, the transmission backlash of a driving bevel gear and a driven bevel gear needs to be reduced, the requirements on processing and mounting of gears are high, the problems of high transmission noise, high cost and the like exist, the number of parts of the structure is large, and therefore the transmission and mounting structure needs to be improved, and the transmission precision and the assembly efficiency need to be improved.

SUMMERY OF THE UTILITY MODEL

The utility model provides an industrial robot wrist structure and industrial robot to solve the terminal weight of current robot wrist too big, the transmission precision is not high, the problem that assembly efficiency is low.

The utility model adopts the technical proposal that: the technical scheme includes that the industrial robot wrist structure comprises a wrist shell, a fixing flange, a brake, a motor mounting plate, a first harmonic speed reducer and a servo motor, wherein the fixing flange is mounted on the wrist shell to form an accommodating cavity, and the servo motor is located in the accommodating cavity and mounted on the upper end face of the fixing flange through the motor mounting plate; the brake is sleeved on the shaft of the servo motor and is positioned between the motor mounting plate and the fixed flange; the first harmonic speed reducer is installed the lower terminal surface of mounting flange, first harmonic speed reducer with servo motor's axle is connected, wrist casing, servo motor, motor mounting panel, stopper, mounting flange, first harmonic speed reducer are all installed with the axle center.

As an industrial robot wrist structure's an preferred mode, mounting flange center department is provided with the confession the first through-hole that servo motor's axle passed, the mounting flange up end be provided with the installation department of first through-hole with the axle center, be provided with the confession on the installation department the stopper walk line portion, first mounting structure, second mounting structure of walking of line, first mounting structure, second mounting structure be used for with motor mounting panel erection joint, first mounting structure, second mounting structure all with first through-hole is with the axle center.

As an industrial robot wrist structure preferred mode, the installation department sets up for the symmetry the first arc boss of first through-hole both sides, the walking line portion is U type notch, first mounting structure is for setting up step tang on the first arc boss inside wall, second mounting structure is for setting up a plurality of screw holes on the first arc boss terminal surface.

As an optimal mode of an industrial robot wrist structure, a spline shaft is installed on a servo motor shaft, and a spline sleeve matched with the spline shaft is fixed on a wave generator of the first harmonic speed reducer.

As an optimal mode of industrial robot wrist structure, still include first sealing washer and second sealing washer, mounting flange's up end and lower terminal surface all are provided with the seal groove, mounting first sealing washer in the mounting flange up end seal groove, mounting second sealing washer in the lower terminal surface seal groove, seal the binding face of mounting flange and wrist casing through first sealing washer, and the second sealing washer is sealed the binding face of mounting flange and first harmonic speed reducer machine.

As an industrial robot wrist structure's preferred mode, still include the locating pin, be provided with the pinhole on wrist casing and the mounting flange, the locating pin is installed in the pinhole.

As an industrial robot wrist structure's preferred mode, still include deep groove ball bearing, oil blanket, support cover, deep groove ball bearing and oil blanket are installed in proper order two step holes of wrist casing one side, support cover tip outer wall and the cooperation installation of deep groove ball bearing hole.

As an industrial robot wrist structure's an preferred mode, still install the panel beating support in the holding cavity, the panel beating support has the one side orientation of screw the support cover.

As an optimal mode of the wrist structure of the industrial robot, the wrist structure of the industrial robot further comprises a second harmonic speed reducer and a synchronizing wheel, the second harmonic speed reducer is installed in a step hole on one side, deviating from the wrist shell, of the supporting sleeve, the synchronizing wheel is installed on an input shaft of the second harmonic speed reducer, and the supporting sleeve and the second harmonic speed reducer are kept on the same shaft center.

The utility model also provides an industrial robot, including foretell industrial robot wrist structure.

The beneficial effects of the utility model are that: the utility model discloses owing to adopt the structure that the motor directly linked, not only reduced part quantity, part structure is simpler, and processing is convenient, has improved assembly efficiency, has reduced cost of maintenance. The direct connection structure is adopted, the action response speed and the transmission precision of the joint are also improved, and the structure is a key transmission part on the robot body, so that the precision, the running speed and the stability of the whole robot are improved.

Drawings

Fig. 1 is the structural schematic diagram of the fixing flange disclosed by the utility model.

Fig. 2 is the utility model discloses a mounting flange, stopper and motor mounting panel assembled structural schematic diagram.

Fig. 3 is a schematic structural view of the motor mounting plate disclosed in the present invention.

Fig. 4 is a schematic structural diagram of the wrist structure of the industrial robot disclosed in the present invention.

Fig. 5 is another schematic structural diagram of the wrist structure of the industrial robot disclosed in the present invention.

Fig. 6 is a partial cross-sectional view of a wrist structure of an industrial robot according to the present invention.

Fig. 7 is another partial cross-sectional view of the wrist structure of the industrial robot disclosed in the present invention.

Reference numerals: 1. a wrist housing; 2. a fixed flange; 201. a first arc-shaped boss; 2011. a step spigot; 2012. a U-shaped notch; 2013. a threaded hole; 202. a first through hole; 3. a motor mounting plate; 301. connecting the ear plates; 302. a second arc-shaped boss; 303. a second through hole; 4. a brake; 5. a first screw; 6. a spline shaft; 7. a second screw; 8. a first harmonic reducer; 9. a servo motor; 10. a sheet metal bracket; 11. a third screw; 12. a fourth screw; 13. a fifth screw; 14. a first seal ring; 15. a second seal ring; 16. positioning pins; 17. a deep groove ball bearing; 18. oil sealing; 19. a support sleeve; 20. a second harmonic reducer; 21. a synchronizing wheel; 22. and a sixth screw.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Referring to fig. 4-7, an industrial robot wrist structure includes a wrist housing 1, a motor mounting plate 3, a brake 4, a first harmonic reducer 8, a servo motor 9, a sheet metal bracket 10, a deep groove ball bearing 17, an oil seal 18, a support sleeve 19, a second harmonic reducer 20, a synchronizing wheel 21, and a fixing flange 2 in embodiment 1.

Specifically, referring to fig. 1, a first through hole 202 is formed in the center of the fixing flange 2, an installation portion coaxial with the first through hole 202 is arranged on the upper end face of the fixing flange 2, a routing portion, a first installation structure and a second installation structure are arranged on the installation portion, and the first installation structure and the second installation structure are coaxial with the first through hole 202.

Specifically, the installation department is the first arc boss 201 of symmetry setting in first through-hole 202 both sides, and the routing portion is U type notch 2012, and first mounting structure is the step tang 2011 of setting on first arc boss 201 inside wall, and the three screw hole 2013 of second mounting structure for setting on first arc boss 201 terminal surface.

The fixing flange is used for positioning the motor mounting plate 3 and ensuring the coaxial requirement of the motor mounting plate 3 and the fixing flange 2. Can avoid because of the too much loss of servo motor energy consumption that the assembly decentraction caused, efficiency reduces, also can guarantee industrial robot wrist stability at the operation in-process simultaneously, reduces the vibration to improve its motion accuracy.

Specifically, referring to fig. 6, the fixing flange 2 is installed on the wrist housing 1 to form an accommodating cavity, the servo motor 9 is located in the accommodating cavity, the servo motor 9 is installed on the motor installation plate 3, and the motor installation plate 3 is installed in cooperation with the step seam allowance 2011 and the threaded hole 2013 on the fixing flange 2.

The structure of the motor mounting plate 3 is as shown in fig. 3, three connecting ear plates 301 are arranged on the motor mounting plate 3, through holes are arranged on the connecting ear plates 301, a second through hole 303 is arranged at the center of the motor mounting plate 3, and a second arc-shaped boss 302 is arranged outside the second through hole 303.

The installation schematic diagram of motor mounting panel 3, stopper 4 and mounting flange 2 is shown in fig. 2, be provided with on the second arc boss 302 lateral wall with step tang 2011 matched with flange, be provided with on the second arc boss 302 inside wall with stopper 4 matched with tang, install back on the tang of second arc boss 302 inside wall with stopper 4, cooperate with the flange of second arc boss 302 lateral wall with step tang 2011 on mounting flange 2 again, then pass the screw hole that is connected to on the screw hole 2013 on the first arc boss 201 behind the through-hole on the connection otic placode 301 through the screw. The wire of the brake 4 exits from the U-shaped notch 2012. After being installed, the brake 4 is sleeved on the shaft of the servo motor 9.

The first harmonic speed reducer 8 is installed in a step hole on the lower end face of the fixed flange 2. The first harmonic speed reducer 8 is connected with a shaft of the servo motor 9, specifically, a spline shaft 6 is mounted on the shaft of the servo motor 9, and a spline sleeve matched with the spline shaft 6 is fixed on a wave generator of the first harmonic speed reducer 8.

The wrist shell 1, the servo motor 9, the motor mounting plate 3, the brake 4, the fixing flange 2 and the first harmonic speed reducer 8 are all coaxially mounted.

The harmonic speed reducer is mainly composed of four basic components of a wave generator, a flexible gear, a flexible bearing and a rigid gear, and is a gear transmission which is formed by assembling the flexible bearing on the wave generator to enable the flexible gear to generate controllable elastic deformation and is meshed with the rigid gear to transmit motion and power.

At present, the industry of industrial robots is more and more extensive, and in order to be suitable for different working scenes, the industrial robots have higher requirements on various performance indexes and overall dimensions of the robots. In order to make the sealing performance of the wrist structure of the robot better. In some embodiments, the wrist structure of the industrial robot further includes a first sealing ring 14 and a second sealing ring 15, the upper end face and the lower end face of the fixing flange 2 are both provided with a sealing groove, the first sealing ring 14 is installed in the sealing groove of the upper end face of the fixing flange 2, the second sealing ring 15 is installed in the sealing groove of the lower end face, the adhering face of the fixing flange 2 and the wrist housing 1 is sealed by the first sealing ring 14, and the adhering face of the fixing flange 2 and the first harmonic reducer 8 is sealed by the second sealing ring 15.

In some embodiments, the wrist structure of the industrial robot further comprises a positioning pin 16, and pin holes are formed in the wrist housing 1 and the fixing flange 2, and the positioning pin 16 is installed in the pin holes to position the part for assembly, so as to ensure the position accuracy and the stability during use.

Referring to fig. 7, a deep groove ball bearing 17 and an oil seal 18 are sequentially installed in two step holes at one side of the wrist housing 1, and the outer wall of the small end of the support sleeve 19 is installed in cooperation with the inner hole of the deep groove ball bearing 17. The surface of the sheet metal support 10 with the screw hole faces the support sleeve 19, and the cable and other parts can pass through the middle hole of the support sleeve 19 and then be fixed on the sheet metal support 10. The second harmonic reducer 20 is installed in a stepped hole on the opposite side of the wrist housing 1 and the support sleeve 19 (i.e., a stepped hole on the left side of the wrist housing in fig. 7), the synchronizing wheel 21 is installed on the input shaft of the second harmonic reducer 20, and the support sleeve 19 and the second harmonic reducer 20 are held on the same shaft center.

The utility model discloses a wrist structure of industrial robot specifically assembles process as follows:

referring to fig. 6, a servo motor 9 is mounted above a motor mounting plate 3 and locked by screws, a brake 4 and a servo motor 9 shaft are concentrically mounted below the motor mounting plate 3 and locked by screws, a spline shaft 6 is mounted on the servo motor 9 shaft, the spline shaft 6 is fixed by an assembling tool and locked by a second screw 7, and a sheet metal bracket 10 is mounted above a fixing flange 2 by clinging to the servo motor 9 and locked by a third screw 11.

After the above components are assembled, whether the servo motor 9 operates normally needs to be detected, and then the next step is performed.

The above assembled parts are installed on the upper end face of the fixed flange 2, the first seal ring 14 is placed in the seal groove on the upper end face of the fixed flange 2, and the second seal ring 15 is placed in the seal groove on the lower end face of the fixed flange 2.

Referring to fig. 6 and 7, the tail of the assembled part servo motor 9 is installed into the wrist housing 1 upward, the upper end surface of the fixing flange 2 is attached to the lower end surface of the wrist housing 1, and the positioning pin 16 is pressed in and locked by the fourth screw 12. During this assembly step, care is taken to keep the wrist housing 1 and the pin hole of the fixing flange 2 in position.

Referring to fig. 7, a second harmonic reducer 20 is mounted on the left side of the wrist housing 1 and locked by a sixth screw 22, and a synchronizing wheel 21 is mounted on the input shaft of the second harmonic reducer 20. A deep groove ball bearing 17 and an oil seal 18 are respectively arranged in an inner hole on the right side of the wrist shell 1 by using a press-fitting tool, then a step at the small end of a support sleeve 19 is arranged in the inner hole of the deep groove ball bearing 17, the end surfaces of the steps are flush, and the lip of the oil seal acts on the outer wall of the other step of the support sleeve 19 to seal.

In the above assembly process, after the fixing flange 2 and the wrist housing 1 are installed and placed, it is necessary to check whether the first seal ring 14 and the second seal ring 15 are in the seal grooves, so as to ensure that the sealing performance at the positions is not affected. It is also necessary to check whether the support sleeve is rotated smoothly.

The utility model also provides an industrial robot, it includes foretell industrial robot wrist structure.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The wrist structure of the industrial robot is characterized by comprising a wrist shell, a fixed flange, a brake, a motor mounting plate, a first harmonic speed reducer and a servo motor, wherein the fixed flange is mounted on the wrist shell to form an accommodating cavity; the brake is sleeved on the shaft of the servo motor and is positioned between the motor mounting plate and the fixed flange; the first harmonic speed reducer is installed on the lower end face of the fixing flange and connected with a shaft of the servo motor, and the wrist shell, the servo motor, the motor mounting plate, the brake, the fixing flange and the first harmonic speed reducer are all installed coaxially.

2. The industrial robot wrist structure according to claim 1, wherein a first through hole through which a shaft of the servo motor passes is provided at a center of the fixing flange, an installation portion coaxial with the first through hole is provided on an upper end surface of the fixing flange, a wiring portion, a first installation structure and a second installation structure through which the brake is wired are provided on the installation portion, the first installation structure and the second installation structure are used for being installed and connected with the motor installation plate, and the first installation structure and the second installation structure are coaxial with the first through hole.

3. The industrial robot wrist structure according to claim 2, wherein the mounting portion is a first arc-shaped boss symmetrically disposed on both sides of the first through hole, the routing portion is a U-shaped notch, the first mounting structure is a step spigot disposed on an inner side wall of the first arc-shaped boss, and the second mounting structure is a plurality of threaded holes disposed on an end face of the first arc-shaped boss.

4. The wrist structure of an industrial robot according to claim 3, wherein a spline shaft is mounted on the servo motor shaft, and a spline housing that fits the spline shaft is fixed to the wave generator of the first harmonic reducer.

5. The industrial robot wrist structure according to claim 3, further comprising a first seal ring and a second seal ring, wherein the upper end surface and the lower end surface of the fixing flange are provided with seal grooves, the first seal ring is installed in the seal groove of the upper end surface of the fixing flange, the second seal ring is installed in the seal groove of the lower end surface, the first seal ring seals the joint surface of the fixing flange and the wrist housing, and the second seal ring seals the joint surface of the fixing flange and the first harmonic reducer.

6. The industrial robot wrist structure according to claim 3, further comprising a positioning pin, pin holes being provided on the wrist housing and the fixing flange, the positioning pin being mounted in the pin holes.

7. The industrial robot wrist structure according to any one of claims 3 to 6, further comprising a deep groove ball bearing, an oil seal, and a support sleeve, wherein the deep groove ball bearing and the oil seal are sequentially installed in two step holes at one side of the wrist housing, and the outer wall of the small end of the support sleeve is installed in cooperation with an inner hole of the deep groove ball bearing.

8. The industrial robot wrist structure according to claim 7, wherein a sheet metal bracket is further installed in the accommodating cavity, and a surface of the sheet metal bracket having the screw hole faces the support sleeve.

9. The industrial robot wrist structure according to claim 8, further comprising a second harmonic reducer installed in a stepped hole on a side of the wrist housing facing away from the support sleeve, and a synchronizing wheel installed on an input shaft of the second harmonic reducer, the support sleeve and the second harmonic reducer being held on the same axial center.

10. An industrial robot characterized by comprising an industrial robot wrist structure according to any one of claims 1-9.