Upper arm structure of 6-axis articulated industrial robot

摘要

The present invention relates to a power transmission structure of the upper arm of the articulated industrial robot, and more particularly, to install a six-axis drive motor inside the wrist of one side of the upper arm of the high-capacity articulated robot, and also to the outside of the joint of the upper arm. The present invention relates to an upper arm structure of a 6-axis articulated industrial robot that can reduce the number of components and reduce gravity load by simplifying the power transmission structure of the upper arm of the robot by installing a plurality of drive motors in the motor.;In the configuration of the present invention, the first wrist part 14 is formed on the upper end of the joint part 12 of the upper arm 10, and the second wrist part 16 is installed inside the first wrist part 14, and the joint part 12 is provided. 4) and 5-axis drive motors 22 and 30 are installed outside the rear stage.;The four-axis power transmission shaft 24 is fixed to the joint 12 in one side of the four-axis drive motor 22 and the four-axis gear train 28 is connected to the four-axis power transmission shaft 24. The shaft gear train 28 is connected to the four-axis reducer 26, but the four-axis reducer 26 is fixed to the first wrist 14.;The 5-axis drive motor 30 has a 5-axis power transmission shaft 32 fixed to the inside of the joint 12 at one side thereof, and the 5-axis first gear train 34 is connected to the 5-axis power transmission shaft 32. The 5-axis bevel gear train 38 is connected to one side of the 5-axis first gear train 34, and the 5-axis second gear train 36 is connected to the lower part of the 5-axis bevel gear train 38.;In addition, the six-axis drive motor 40 is installed inside the second wrist portion 16, the six-axis reducer 42 is sliding on one side of the six-axis drive motor 40 and the second wrist portion 16 The 6-axis gear train 44 is fixedly installed on the side to slide with the 5-axis second gear train 36.