CN101927498A - Two-degree-of-freedom robot wrist - Google Patents
Two-degree-of-freedom robot wrist Download PDFInfo
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- CN101927498A CN101927498A CN 200910309605 CN200910309605A CN101927498A CN 101927498 A CN101927498 A CN 101927498A CN 200910309605 CN200910309605 CN 200910309605 CN 200910309605 A CN200910309605 A CN 200910309605A CN 101927498 A CN101927498 A CN 101927498A
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- semiaxis
- framework
- differential attachment
- base plate
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a two-degree-of-freedom robot wrist, which relates to a robot wrist and aims to solve the problems of complex structure, heavy weight, high control difficulty and low integration level existing in the conventional robot wrist. One of two input bases of a torque sensor is connected with a first driven bevel gear of a differential mechanism while the other is sleeved on a driven shaft of the differential mechanism; a support block is arranged on a bracket bottom plate of a support bracket; the differential mechanism is supported by the support block and two support arms of the support bracket; a driving frame is connected with the support bracket through a pre-tightening mechanism; first and second drivers are fixed on the driving frame and have opposite transmission directions; the first and second drivers are in transmission connection with first and second driving half shafts of the differential mechanism through first and second toothed belt transmission mechanisms; first and second position sensors are arranged on the first driving half shaft of the differential mechanism; and a tail end circuit board is fixedly arranged on an output base of the torque sensor. The robot wrist has the advantages of simple structure, light overall weight, easy control, high integration level and wrist pitching and deflection degrees of freedom.
Description
Technical field
The present invention relates to a kind of robot wrist.
Background technology
The robot wrist is an important component part in the Robotics, through years of development and practice, produces multiple Wrist mechanism in succession.Pitching and the deflections of adopting two mechanisms of overlapping independences and structural similarity to realize wrist of these mechanisms are rotated more, this will cause wrist complex structure, overall weight big, and mechanism's weight of back one degree of freedom becomes the load of previous free degree mechanism, and the axis of rotation that causes the wrist part easily is non-intersect or the generation offset distance, bring difficulty to robot wrist's control, and integrated level is low.
Summary of the invention
The robot wrist who the purpose of this invention is to provide a kind of two-freedom exists complex structure, big, the control problem that difficulty is big, integrated level is low of overall weight to solve existing robot wrist.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: robot wrist of the present invention is made of torque sensor, differential attachment, bracing frame, back-up block, driving framework, pre-tightening mechanism, first driver, second driver, the first odontoid belt transmission mechanism, the second odontoid belt transmission mechanism, primary importance sensor, second place sensor, tail circuit plate, electrical connecting wires and wrist electrical equipment; The central axis of the driven shaft of differential attachment and the central axis of driving shaft are in same horizontal plane and the setting that intersects vertically, the driving shaft of differential attachment is made up of the first active semiaxis and the second active semiaxis, the input pedestal that first driven bevel pinion with differential attachment in two input pedestals of torque sensor is adjacent is contained on the driven shaft of differential attachment, and be connected with first driven bevel pinion of differential attachment, input of residue pedestal sky in two input pedestals of torque sensor is enclosed within on the driven shaft of differential attachment, back-up block is arranged on the support base plate of bracing frame and is positioned at the center of differential attachment, differential attachment is arranged between two support arms of bracing frame, differential attachment is by two arm supports of back-up block and bracing frame, drive framework be arranged on bracing frame below, driving framework is connected by pre-tightening mechanism with bracing frame, first driver and second driver all are fixed on the driving framework and the two transmission direction is provided with on the contrary, first driver is in transmission connection by the first active semiaxis of the first odontoid belt transmission mechanism and differential attachment, second driver is in transmission connection by the second active semiaxis of the second odontoid belt transmission mechanism and differential attachment, first rotatable parts of primary importance sensor are contained in first of differential attachment and initiatively are in transmission connection on the semiaxis and with it, the primary importance sensor is positioned at the outside of the first odontoid belt transmission mechanism, second rotatable parts of second place sensor are contained in second of differential attachment and initiatively are in transmission connection on the semiaxis and with it, second place sensor is positioned at the outside of the second odontoid belt transmission mechanism, first fixed part of primary importance sensor and second fixed part of second place sensor are all affixed with the support base plate of bracing frame, one end of electrical connecting wires is connected with the tail circuit plate, the other end of electrical connecting wires is connected with the wrist electrical equipment, the wrist electrical equipment is packed in and drives on the framework, and the tail circuit plate is packed on the output pedestal of torque sensor.
The invention has the beneficial effects as follows: the present invention adopts the independently pitching of a cover mechanism realization wrist and the rotation of two frees degree of deflection, and it is simple in structure, compact, and overall weight is light.In addition, because two axis of rotation quadratures of wrist, the robot wrist controls easily, the integrated level height.
Description of drawings
Fig. 1 is an overall structure stereogram of the present invention; Fig. 2 is the stereogram that differential attachment 4 and torque sensor 3 are assembled together; Fig. 3 is the A-A cutaway view of Fig. 2; Fig. 4 is first driver 8, second driver 9 and the fractionation three-dimensional structure diagram that drives framework 6; Fig. 5 is the B-B cutaway view (after fitting together) of Fig. 4; Fig. 6 is the stereogram that first driver 8, second driver 9, the first odontoid belt transmission mechanism 10, the second odontoid belt transmission mechanism 11, differential attachment 4 and torque sensor 3 are assembled together; Fig. 7 is the sectional side elevation (dissecing along the axis quadrature place of driving shaft 1 and driven shaft 2 and the central axis of second driver 9) of Fig. 6; Fig. 8 is that the C of Fig. 1 is to stereogram; Fig. 9 is that the distance that drives between framework 6 and the bracing frame 5 is adjusted stereogram (realizing adjustment of odontoid belt gap and pretension); Figure 10 stereogram that to be torque sensor 3 be assembled together with differential attachment 4 and bracing frame 5; Figure 11 is the D-D cutaway view of Figure 10; Figure 12 is the front view of primary importance sensor 12; Figure 13 is the front view of second place sensor 51; Figure 14 is the stereogram of the first active semiaxis 1-1; Figure 15 is the stereogram of the second semiaxis 1-2; Figure 16 is the vertical view of torque sensor 3; Figure 17 is the front view of Figure 16; Figure 18 is overall structure master's cutaway view of the present invention (trace-diagram); Figure 19 is the left cutaway view (trace-diagram is dissectd along the axis quadrature place of driving shaft 1 and driven shaft 2 and the central axis of second driver 9) of Figure 18.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1-Figure 19 present embodiment is described, the robot wrist of present embodiment is made of torque sensor 3, differential attachment 4, bracing frame 5, back-up block 50, driving framework 6, pre-tightening mechanism 7, first driver 8, second driver 9, the first odontoid belt transmission mechanism 10, the second odontoid belt transmission mechanism 11, primary importance sensor 12, second place sensor 51, tail circuit plate 13, electrical connecting wires 25 and wrist electrical equipment 52; The central axis I of the driven shaft 2 of differential attachment 4 and the central axis II of driving shaft 1 are in same horizontal plane and the setting that intersects vertically, the driving shaft 1 of differential attachment is made up of the first active semiaxis 1-1 and the second active semiaxis 1-2, the input pedestal 3-1 that the first driven bevel pinion 4-3 with differential attachment 4 among two input pedestal 3-1 of torque sensor 3 is adjacent is contained on the driven shaft 2 of differential attachment 4, and be connected with the first driven bevel pinion 4-3 of differential attachment 4 and (the two linked together by the 3rd pin 16, the rotation and the power of output wrist), input of residue pedestal 3-1 sky among two input pedestal 3-1 of torque sensor 3 is enclosed within on the driven shaft 2 of differential attachment 4, the support base plate 5-1 that back-up block 50 is arranged on bracing frame 5 goes up and is positioned at the center of differential attachment 4, differential attachment 4 is arranged between two support arm 5-2 of bracing frame 5, differential attachment 4 supports by two support arm 5-2 of back-up block 50 and bracing frame 5, drive framework 6 be arranged on bracing frame 5 below, driving framework 6 is connected by pre-tightening mechanism 7 with bracing frame 5, first driver 8 and second driver 9 all are fixed on the driving framework 6 and the two transmission direction is provided with on the contrary, first driver 8 is in transmission connection by the first active semiaxis 1-1 of the first odontoid belt transmission mechanism 10 with differential attachment 4, second driver 9 is in transmission connection by the second active semiaxis 1-2 of the second odontoid belt transmission mechanism 11 with differential attachment 4, the first active semiaxis 1-1 that the first rotatable parts 12-1 of primary importance sensor 12 is contained in differential attachment 4 upward and with it is in transmission connection, primary importance sensor 12 is positioned at the outside of the first odontoid belt transmission mechanism 10, the second active semiaxis 1-2 that the second rotatable parts 51-1 of second place sensor 51 is contained in differential attachment 4 upward and with it is in transmission connection, second place sensor 51 is positioned at the outside of the second odontoid belt transmission mechanism 11, first fixed part 12-2 of primary importance sensor 12 and the second fixed part 51-2 of second place sensor 51 are all affixed with the support base plate 5-1 of bracing frame 5, one end of electrical connecting wires 25 is connected with tail circuit plate 13, the other end of electrical connecting wires 25 is connected with wrist electrical equipment 52, wrist electrical equipment 52 is packed in and drives on the framework 6, tail circuit plate 13 is packed on the output pedestal 3-4 of torque sensor 3, being electrically connected between the collection of realization heat transfer agent and arm and end effector.Present embodiment utilizes two position sensors to detect wrist pitching and the moment of side-sway two directions and the rotational angle of two driving bevel gears on the differential attachment 4.Two position sensors in the present embodiment are the potentiometer type position sensor.Potentiometer type position sensor and torque sensor are outsourcing piece, and the manufacturer of potentiometer type position sensor is a murata company; Model is PVS1A103A01 (SV01A103AEA01).
Present embodiment is passed through the distance between pre-tightening mechanism 7 adjustment bracing frames 5 and the driving framework 6, thereby realizes the gap adjustment of two odontoid belt transmission mechanisms; Torque sensor 3 is realized the motion of wrist and the output of power, measures the moment of wrist pitching and side-sway two directions; Detect the corner of two driving bevel gears in the differential attachment 4 by two position sensors.
The first rotatable parts 12-1 of the primary importance sensor 12 in the present embodiment is provided with the first center slotted eye 12-1-1, first of differential attachment 4 initiatively is processed with the first key 1-1-1 that is complementary with this first center slotted eye 12-1-1 shape on the semiaxis 1-1, the first driving bevel gear 4-1 and the first belt wheel 10-1 of the first active semiaxis 1-1 and differential attachment 4 together rotate, and detect the corner of the first driving bevel gear 4-1 of differential attachment 4; In like manner, the second rotatable parts 51-1 of second place sensor 51 is provided with the second center slotted eye 51-1-1, second of differential attachment 4 initiatively is processed with the second key 1-2-1 that is complementary with this second center slotted eye 51-1-1 shape on the semiaxis 1-2, the second driving bevel gear 4-2 and the 3rd belt wheel 11-1 of the second active semiaxis 1-2 and differential attachment 4 together rotate, and detect the corner of the second driving bevel gear 4-2 of differential attachment 4; Rotational angle by the first driving bevel gear 4-1 and the second driving bevel gear 4-2 can calculate the angle of wrist in pitching and side-sway direction.
The specific embodiment two: in conjunction with Fig. 1 and Figure 10 present embodiment is described, the bracing frame 5 of present embodiment is made up of support base plate 5-1 and two support arm 5-2; Two support arm 5-2 are oppositely arranged and are fixed on the upper surface of support base plate 5-1, two support arm 5-2 are respectively the first support arm 5-2-1 and the second support arm 5-2-2, support base plate 5-1 is provided with four pretension screwed holes, the corresponding one by one setting of four drift angles of four pretension screwed holes and support base plate 5-1, support base plate 5-1 goes up on former and later two relative sides and respectively is provided with a keyway 5-3, two keyway 5-3 are oppositely arranged, and support base plate 5-1 is provided with two screw via holes.So be provided with, simple in structure, be easy to the installation of differential attachment 4.Other is identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1, Figure 16 and Figure 17 present embodiment is described, the torque sensor 3 of present embodiment is made up of cross strain beam 3-2, four foil gauge 3-3, input pedestal 3-1 and output pedestal 3-4; Be fixed with cross strain beam 3-2 between output pedestal 3-4 and the input pedestal 3-1, input pedestal 3-1 has two, and two input pedestal 3-1 are oppositely arranged, and is bonded with a foil gauge 3-3 on the upper surface of each strain beam of cross strain beam 3-2.By the stress-strain that is subjected to of torque sensor 3 detection cross strain beam 3-2, a pair of relatively strain beam detects the strain of pitching, side-sway direction respectively; The output pedestal 3-4 of torque sensor 3 is connected with the wrist end effector, tail circuit plate 13 is affixed with the output pedestal 3-4 of torque sensor 3, it does not have power to contact with the cross strain beam 3-2 of torque sensor 3, and the cross strain beam 3-2 of torque sensor 3 is the input pedestal 3-1 of torque sensor 3 and exports unique power transmission channels between pedestal 3-4.Other is identical with the specific embodiment one.
The specific embodiment four: in conjunction with Fig. 2, Fig. 3 and Figure 10 present embodiment is described, the differential attachment 4 of present embodiment is made up of the first driving bevel gear 4-1, the second driving bevel gear 4-2, the first driven bevel pinion 4-3, the second driven bevel pinion 4-4, driving shaft 1 and driven shaft 2; Back-up block 50 is provided with inner chamber, the first active semiaxis 1-1 is positioned at the right side of back-up block 50, the second active semiaxis 1-2 is positioned at the left side of back-up block 50, the first initiatively initiatively coaxial setting of semiaxis 1-2 of semiaxis 1-1 and second, the two ends of the first active semiaxis 1-1 are supported by the back-up block 50 and the first support arm 5-2-1, and first initiatively the two ends of semiaxis 1-1 respectively be rotationally connected by dress bearing and back-up block 50 and the first support arm 5-2-1 thereon, the two ends of the second active semiaxis 1-2 are supported by the back-up block 50 and the second support arm 5-2-2, and second initiatively the two ends of semiaxis 1-2 respectively be rotationally connected by dress bearing and back-up block 50 and the second support arm 5-2-2 thereon, first initiatively is fixed with the first driving bevel gear 4-1 on the semiaxis 1-1, second initiatively is fixed with the second driving bevel gear 4-2 on the semiaxis 1-2, driven shaft 2 passes the outside that back-up block 50 and two ends are arranged on back-up block 50, end on the driven shaft 2 is fixed with the first driven bevel pinion 4-3, the other end on the driven shaft 2 is connected with the second driven bevel pinion 4-4 by bearing, and driven shaft 2 is provided with central shaft hole 2-1.So be provided with, drive coupled torque sensor 3 by the first driven bevel pinion 4-3 and together rotate; The first driven bevel pinion 4-3 and torque sensor 3 are around the corner of driving shaft 1, driven shaft 2, corner coupling by the first driving bevel gear 4-1 and the second driving bevel gear 4-2 forms, external applied load is born jointly by two drivers, can realize the rotation of wrist around pairwise orthogonal axis (being 2 two axis of driving shaft 1 and driven shaft).Other is identical with the specific embodiment two.
The specific embodiment five: in conjunction with Fig. 1, Fig. 4 and Fig. 5 present embodiment is described, first driver 8 of present embodiment is made up of the first motor 8-1 and first harmonic decelerator 8-2; First harmonic decelerator 8-2 is made up of the first steel wheel 8-2-1, the first flexbile gear 8-2-2 and the first wave producer 8-2-3, be fixed with the first wave producer 8-2-3 on the output shaft of the described first motor 8-1, the first flexbile gear 8-2-2 is sleeved on the first wave producer 8-2-3, and the first steel wheel 8-2-1 is sleeved on the first flexbile gear 8-2-2; Second driver 9 is made up of the second motor 9-1 and second harmonic decelerator 9-2; Second harmonic decelerator 9-2 is made up of the second steel wheel 9-2-1, the second flexbile gear 9-2-2 and the second wave producer 9-2-3; Be fixed with the second wave producer 9-2-3 on the output shaft of the described second motor 9-1, the second flexbile gear 9-2-2 is sleeved on the second wave producer 9-2-3, and the second steel wheel 9-2-1 is sleeved on the second flexbile gear 9-2-2; The first motor 8-1 and the second motor 9-1 all with drive framework 6 affixed (the first motor 8-1 in the present embodiment by first connector 17 with to drive framework 6 affixed; The second motor 9-1 is affixed with driving framework 6 by second connector 18), the first steel wheel 8-2-1 and the second steel wheel 9-2-1 all are fixed on and drive on the framework 6, and the first motor 8-1 and the second motor 9-1 drive by wrist electrical equipment 52 and rotate.
The output shaft of the first motor 8-1 drives the first wave producer 8-2-3 and rotates, and the first flexbile gear 8-2-2 and the second belt wheel 10-3 together export rotation, and by bearings on first connector 20 of driving framework 6; The output shaft of the second motor 9-1 drives the second wave producer 9-2-3 and rotates, and the second flexbile gear 9-2-2 and four-tape wheel 11-3 together export rotation, and by bearings on second connector 19 of driving framework 6.Load in the present embodiment is driven jointly by two motors, and bearing capacity is strong; Motor power is by harmonic speed reducer and cog belt transmission such as (bands synchronously), and motion is accurately steady, and noise is little.Other is identical with the specific embodiment four.
The specific embodiment six: in conjunction with Fig. 1-Fig. 3, Fig. 5 and Fig. 6 present embodiment is described, the first odontoid belt transmission mechanism 10 of present embodiment is made up of the first belt wheel 10-1 (driven pulley), the first cog belt 10-2 and the second belt wheel 10-3 (driving pulley); The first belt wheel 10-1 is packed on the first active semiaxis 1-1, the first belt wheel 10-1 is in transmission connection by the first cog belt 10-2 and the second belt wheel 10-3, the second belt wheel 10-3 is packed on the output shaft of the first motor 8-1, the first belt wheel 10-1 and the first driving bevel gear 4-1 affixed (by first pin 14 the two being fixed together in the present embodiment), the second belt wheel 10-3 and the first flexbile gear 8-2-2 are affixed, outputting power; The second odontoid belt transmission mechanism 11 is made up of the 3rd belt wheel 11-1 (driven pulley), the second cog belt 11-2 and four-tape wheel 11-3 (driving pulley); The 3rd belt wheel 11-1 is packed on the second active semiaxis 1-2, the 3rd belt wheel 11-1 is in transmission connection by the second cog belt 11-2 and four-tape wheel 11-3, four-tape wheel 11-3 is packed on the output shaft of the second motor 9-1, the 3rd belt wheel 11-1 and the second driving bevel gear 4-2 affixed (by second pin 15 the two being fixed together in the present embodiment), the four-tape wheel 11-3 and the second flexbile gear 9-2-2 are affixed, outputting power, the first belt wheel 10-1, the second belt wheel 10-3, the 3rd belt wheel 11-1 and four-tape wheel 11-3 are synchronous pulley.The first belt wheel 10-1 and the 3rd belt wheel 11-1 be equidirectional, during with rotational speed, the first driven bevel pinion 4-3 and torque sensor 3 rotate around driving shaft 1, wrist is done elevating movement; The first belt wheel 10-1 and the 3rd belt wheel 11-1 in the other direction, during with rotational speed, the first driven bevel pinion 4-3 and torque sensor 3 rotate around driven shaft 2, wrist is done side-sway and is moved; The first belt wheel 10-1 and the 3rd belt wheel 11-1 rotating speed form the resultant motion of pitching and side-sway two directions not simultaneously.Other is identical with the specific embodiment five.
The specific embodiment seven: in conjunction with Fig. 1, Fig. 9 and Figure 10 present embodiment is described, the pre-tightening mechanism 7 of present embodiment is made up of four pretension screw 7-1 and two attachment screw 7-2; Drive on the upper surface of framework 6 with support base plate 5-1 on two screw via hole opposite position places be provided with two threaded connection holes, on each screw via hole on the support base plate 5-1 and the driving framework 6 with in the corresponding threaded connection hole of this screw via hole an attachment screw 7-2 is housed, support base plate 5-1 is threaded with driving framework 6 by two attachment screw 7-2, produce a tensile force f that makes progress 2 to driving framework 6, four pretension screw 7-1 go up corresponding pretension screwed hole with support base plate 5-1 and are threaded, the lower surface of each pretension screw 7-1 withstands on the upper surface that drives framework 6, and it is produced a downward power F1.Other is identical with the specific embodiment two.
The specific embodiment eight: present embodiment is described in conjunction with Fig. 6, Fig. 9 and Figure 10, on the upper surface of the driving framework 6 of present embodiment with support base plate 5-1 on two keyway 5-3 opposite position places respectively be provided with a positioning key 6-1, drive two positioning key 6-1 on the framework 6 and be contained in the corresponding keyway 5-3 on the support base plate 5-1, guarantee to drive the rectilinear motion of framework 6 relative bracing frames 5.Other is identical with the specific embodiment two.
In the assembling process, at first driving framework 6 fits with support base plate 5-1, drive the spacing L=0 between framework 6 and the support base plate 5-1, under the situation that gap, center square minimum and belt are loose greatly, pack into the first cog belt 10-2 and the second cog belt 11-2 evenly adjust pretension screw 7-1 then, drive framework 6 relative bracing frames 5 and slide along keyway 5-3, the spacing L that drives between framework 6 and the support base plate 5-1 increases, and the increasing of center square, belt are along with the increase of L value is more and more tight; To correct position, be screwed into attachment screw 7-2, tension drives framework 6, and it is in stable under the styles of work such as the tensile force f 2 that comprises downward power F1, make progress and belt pretightning force.
The specific embodiment nine: present embodiment is described in conjunction with Figure 16-Figure 19, the other end of the electrical connecting wires 25 of present embodiment passes the outer wall of the space of cross strain beam 3-2 and any one the input pedestal 3-1 in two input pedestal 3-1 successively, penetrates the central shaft hole 2-1 of driven shaft 2 and pass the back by driving shaft 1 with driven shaft 2 axes intersect places and be connected with wrist electrical equipment 52 again, thereby avoided because the motion of wrist side-sway causes the flexible of electrical connecting wires 25, and be convenient to control.Other is identical with the specific embodiment four.
Claims (9)
1. the robot wrist of a two-freedom, described robot wrist by torque sensor (3), differential attachment (4), bracing frame (5), back-up block (50), drive framework (6), pre-tightening mechanism (7), first driver (8), second driver (9), the first odontoid belt transmission mechanism (10), the second odontoid belt transmission mechanism (11), primary importance sensor (12), second place sensor (51), tail circuit plate (13), electrical connecting wires (25) and wrist electrical equipment (52) formation; It is characterized in that: the central axis (I) of the driven shaft (2) of differential attachment (4) and the central axis (II) of driving shaft (1) are in same horizontal plane and the setting that intersects vertically, the driving shaft of differential attachment (1) is made up of the first active semiaxis (1-1) and the second active semiaxis (1-2), the input pedestal (3-1) that first driven bevel pinion (4-3) with differential attachment (4) in two input pedestals (3-1) of torque sensor (3) is adjacent is contained on the driven shaft (2) of differential attachment (4), and be connected with first driven bevel pinion (4-3) of differential attachment (4), input of residue pedestal (3-1) sky in two input pedestals (3-1) of torque sensor (3) is enclosed within on the driven shaft (2) of differential attachment (4), the center of differential attachment (4) is gone up and be positioned to the support base plate (5-1) that back-up block (50) is arranged on bracing frame (5), differential attachment (4) is arranged between two support arms (5-2) of bracing frame (5), differential attachment (4) supports by two support arms (5-2) of back-up block (50) and bracing frame (5), drive framework (6) be arranged on bracing frame (5) below, driving framework (6) is connected by pre-tightening mechanism (7) with bracing frame (5), first driver (8) and second driver (9) all are fixed on the driving framework (6) and the two transmission direction is provided with on the contrary, first driver (8) is in transmission connection by the first active semiaxis (1-1) of the first odontoid belt transmission mechanism (10) with differential attachment (4), second driver (9) is in transmission connection by the second active semiaxis (1-2) of the second odontoid belt transmission mechanism (11) with differential attachment (4), the first active semiaxis (1-1) that first rotatable parts (12-1) of primary importance sensor (12) are contained in differential attachment (4) upward and with it is in transmission connection, primary importance sensor (12) is positioned at the outside of the first odontoid belt transmission mechanism (10), the second active semiaxis (1-2) that second rotatable parts (51-1) of second place sensor (51) are contained in differential attachment (4) upward and with it is in transmission connection, second place sensor (51) is positioned at the outside of the second odontoid belt transmission mechanism (11), first fixed part (12-2) of primary importance sensor (12) and second fixed part (51-2) of second place sensor (51) are all affixed with the support base plate (5-1) of bracing frame (5), one end of electrical connecting wires (25) is connected with tail circuit plate (13), the other end of electrical connecting wires (25) is connected with wrist electrical equipment (52), wrist electrical equipment (52) is packed in and drives on the framework (6), and tail circuit plate (13) is packed on the output pedestal (3-4) of torque sensor (3).
2. the robot wrist of two-freedom according to claim 1, it is characterized in that: bracing frame (5) is made up of support base plate (5-1) and two support arms (5-2); Two support arms (5-2) are oppositely arranged and are fixed on the upper surface of support base plate (5-1), two support arms (5-2) are respectively first support arm (5-2-1) and second support arm (5-2-2), support base plate (5-1) is provided with four pretension screwed holes, the corresponding one by one setting of four drift angles of four pretension screwed holes and support base plate (5-1), support base plate (5-1) is gone up on any two relative sides and respectively is provided with a keyway (5-3), two keyways (5-3) are oppositely arranged, and support base plate (5-1) is provided with two screw via holes.
3. the robot wrist of two-freedom according to claim 1 is characterized in that: torque sensor (3) is by cross strain beam (3-2), four foil gauges (3-3), input pedestal (3-1) and export pedestal (3-4) and form; Be fixed with cross strain beam (3-2) between output pedestal (3-4) and the input pedestal (3-1), input pedestal (3-1) has two, and two input pedestals (3-1) are oppositely arranged, and are bonded with a foil gauge (3-3) on the upper surface of each strain beam of cross strain beam (3-2).
4. the robot wrist of two-freedom according to claim 2, it is characterized in that: differential attachment (4) is made up of first driving bevel gear (4-1), second driving bevel gear (4-2), first driven bevel pinion (4-3), second driven bevel pinion (4-4), driving shaft (1) and driven shaft (2); Back-up block (50) is provided with inner chamber, the first active semiaxis (1-1) is positioned at the right side of back-up block (50), the second active semiaxis (1-2) is positioned at the left side of back-up block (50), the first initiatively initiatively coaxial setting of semiaxis (1-2) of semiaxis (1-1) and second, the two ends of the first active semiaxis (1-1) are supported by back-up block (50) and first support arm (5-2-1), and first initiatively the two ends of semiaxis (1-1) respectively be rotationally connected by bearing and back-up block (50) and first support arm of adorning thereon (5-2-1), the two ends of the second active semiaxis (1-2) are supported by back-up block (50) and second support arm (5-2-2), and second initiatively the two ends of semiaxis (1-2) respectively be rotationally connected by bearing and back-up block (50) and second support arm of adorning thereon (5-2-2), first initiatively is fixed with first driving bevel gear (4-1) on the semiaxis (1-1), second initiatively is fixed with second driving bevel gear (4-2) on the semiaxis (1-2), driven shaft (2) passes the outside that back-up block (50) and two ends are arranged on back-up block (50), end on the driven shaft (2) is fixed with first driven bevel pinion (4-3), the other end on the driven shaft (2) is connected with second driven bevel pinion (4-4) by bearing, and driven shaft (2) is provided with central shaft hole (2-1).
5. the robot wrist of two-freedom according to claim 4, it is characterized in that: first driver (8) is made up of first motor (8-1) and first harmonic decelerator (8-2); First harmonic decelerator (8-2) is made up of first steel wheel (8-2-1), first flexbile gear (8-2-2) and first wave producer (8-2-3), be fixed with first wave producer (8-2-3) on the output shaft of described first motor (8-1), first flexbile gear (8-2-2) is sleeved on first wave producer (8-2-3), and first steel wheel (8-2-1) is sleeved on first flexbile gear (8-2-2); Second driver (9) is made up of second motor (9-1) and second harmonic decelerator (9-2); Second harmonic decelerator (9-2) is made up of second steel wheel (9-2-1), second flexbile gear (9-2-2) and second wave producer (9-2-3); Be fixed with second wave producer (9-2-3) on the output shaft of described second motor (9-1), second flexbile gear (9-2-2) is sleeved on second wave producer (9-2-3), and second steel wheel (9-2-1) is sleeved on second flexbile gear (9-2-2); First motor (8-1) and second motor (9-1) are all affixed with driving framework (6), first steel wheel (8-2-1) and second steel wheel (9-2-1) all are fixed on and drive on the framework (6), and first motor (8-1) and second motor (9-1) drive by wrist electrical equipment (52) and rotate.
6. the robot wrist of two-freedom according to claim 5, it is characterized in that: the first odontoid belt transmission mechanism (10) is made up of first belt wheel (10-1), first cog belt (10-2) and second belt wheel (10-3); First belt wheel (10-1) is packed on the first active semiaxis (1-1), first belt wheel (10-1) is in transmission connection by first cog belt (10-2) and second belt wheel (10-3), second belt wheel (10-3) is packed on the output shaft of first motor (8-1), first belt wheel (10-1) is affixed with first driving bevel gear (4-1), and second belt wheel (10-3) is affixed with first flexbile gear (8-2-2); The second odontoid belt transmission mechanism (11) is made up of the 3rd belt wheel (11-1), second cog belt (11-2) and four-tape wheel (11-3); The 3rd belt wheel (11-1) is packed on the second active semiaxis (1-2), the 3rd belt wheel (11-1) is in transmission connection by second cog belt (11-2) and four-tape wheel (11-3), four-tape wheel (11-3) is packed on the output shaft of second motor (9-1), the 3rd belt wheel (11-1) is affixed with second driving bevel gear (4-2), four-tape wheel (11-3) is affixed with second flexbile gear (9-2-2), and first belt wheel (10-1), second belt wheel (10-3), the 3rd belt wheel (11-1) and four-tape wheel (11-3) are synchronous pulley.
7. the robot wrist of two-freedom according to claim 2, it is characterized in that: pre-tightening mechanism (7) is made up of four pretension screws (7-1) and two attachment screws (7-2); Drive on the upper surface of framework (6) with support base plate (5-1) on two screw via hole opposite position places be provided with two threaded connection holes, each screw via hole on the support base plate (5-1) and driving framework (6) upward and in the corresponding threaded connection hole of this screw via hole are equipped with an attachment screw (7-2), support base plate (5-1) is threaded with driving framework (6) by two attachment screws (7-2), four pretension screws (7-1) are gone up corresponding pretension screwed hole with support base plate (5-1) and are threaded, and the lower surface of each pretension screw (7-1) withstands on the upper surface that drives framework (6).
8. the robot wrist of two-freedom according to claim 2, it is characterized in that: drive on the upper surface of framework (6) with support base plate (5-1) on two keyways (5-3) opposite position place respectively be provided with a positioning key (6-1), drive two positioning keys (6-1) on the framework (6) and be contained in the corresponding keyway (5-3) on the support base plate (5-1).
9. the robot wrist of two-freedom according to claim 4 is characterized in that: the other end of electrical connecting wires (25) passes the outer wall of the space of cross strain beam (3-2) and any one the input pedestals (3-1) in two input pedestals (3-1) successively, penetrate the central shaft hole (2-1) of driven shaft (2) and passed by driving shaft (1) and driven shaft (2) axes intersect place more then is connected with wrist electrical equipment (52).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200910309605 CN101927498B (en) | 2009-11-12 | 2009-11-12 | Two-degree-of-freedom robot wrist |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910309605 CN101927498B (en) | 2009-11-12 | 2009-11-12 | Two-degree-of-freedom robot wrist |
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| CN101927498A true CN101927498A (en) | 2010-12-29 |
| CN101927498B CN101927498B (en) | 2011-08-24 |
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| CN 200910309605 Expired - Fee Related CN101927498B (en) | 2009-11-12 | 2009-11-12 | Two-degree-of-freedom robot wrist |
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