CN102303318A - Robot wrist structure capable of realizing universal adjustment and accurate positioning - Google Patents
Robot wrist structure capable of realizing universal adjustment and accurate positioning Download PDFInfo
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- CN102303318A CN102303318A CN201110168939A CN201110168939A CN102303318A CN 102303318 A CN102303318 A CN 102303318A CN 201110168939 A CN201110168939 A CN 201110168939A CN 201110168939 A CN201110168939 A CN 201110168939A CN 102303318 A CN102303318 A CN 102303318A
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Abstract
The invention discloses a robot wrist structure capable of realizing universal adjustment and accurate positioning. Aiming at the defects of a few conventional wrist structures, accurate adjustment of an active adjusting joint and rough adjustment of a passive ball joint are fully utilized, wherein the active adjusting joint is driven and controlled by a motor, fine adjustment of a posture can be realized, and the compact and accurate joint form of the active adjusting joint ensures solution of inverse kinematics and realizes accurate positioning. The passive ball joint with a locking mechanism enables a terminal executor to roughly adjust the posture. Therefore, universal adjustment of the terminal posture is realized.
Description
Technical field
The application relates to a kind of joint of robot, especially for the robot wrist can pinpoint joint.
Background technology
Now typical robot architecture is made up of arm and wrist structure, and arm is to be used for the location, position, and wrist is to realize attitude.Whether the wrist structure rationally directly has influence on the attitude adjustment space of robot and the precision of attitude adjustment.At present, most wrist structure can only be carried out the attitude adjustment a limited scope.For example, the wrist structure of medical robot, size must be compact, and positioning accuracy is high, and makes things convenient for finding the solution of inverse kinematics.
In order to guarantee the precision of robot, generally all robot is demarcated.There are optical guidance appearance, magnetic orientator, mechanical positioning in the location.This structure makes full use of the demarcation of location, realizes the accurately adjustment arbitrarily of terminal attitude.
Shown in Figure 1 is a typical industrial robot, and its structure is common arm+wrist structure.Preceding 3 rotary joints are the position adjustment, and it is the attitude adjustment that 4,5,6 joints combine wrist joint.Wrist joint is typical roll+pitch+roll spherical joint, and the axes intersect in three joints a bit.The wrist joint of this industrial robot is in order to obtain the adjustment of bigger attitude, and very big the change of the armed lever size between 4 joints and 5 joints of having to can not be applied on the small-sized wrist joint.And can not realize omnibearing adjustment.
Also instructed in the prior art and a kind ofly utilized passive ball-joint to be used as terminal carpal technical scheme.In this technical scheme,, can not realize accurate adjustment, and can not realize omnibearing adjustment equally though passive ball-joint can obtain bigger attitude adjustment orientation.
Summary of the invention
Because the above-mentioned defective of prior art, the embodiment of the invention provides a kind of and has high accuracy, size is little, adjustable range is big, and stable drive, simple robot wrist is installed, to solve prior art problems.
A kind of robot wrist is used for the forearm of said robot is connected with hand, comprises
One joint, it is connected with the forearm of said robot, and can rotate around its axle, and the axle in a said joint is parallel to each other with said forearm;
Two joints, it is connected with a said joint, and can be around its axle swing, and the axle in said two joints is orthogonal with the axle in a said joint;
Three joints, it is connected with said two joints, and can rotate around its axle, and the axle in said three joints is orthogonal with the axle in said two joints;
Passive ball-joint, it is connected between said three joints and the end effector, and the ability locking positioning;
The axle in a said joint, two joints and three joints intersects at a point.
Preferably, a said joint and three joints joint for can in 360 ° of scopes, rotating, the joint of said two joints in-90 °～90 ° scopes, swinging, said passive ball-joint can be adjusted in-90 °～90 ° scopes.
Preferably, the motor in a said joint is fixed on the motor bearing seat with screw, and motor output shaft is pressed on the connecting axle of joint with the swelling cover that has a tangent plane, in have screw thread to compress; The bearing mounting means in this joint adopts the mode that inner ring rotates, the outer ring is fixing, and bearing inner race is fixed on the connecting axle of joint, and bearing outer ring is fixed on the motor cabinet, and left end is fixed with the multidiameter of motor fixing seat, and right-hand member compresses with bearing cap; Also be provided with interior outer separator, make this close the energy-conservation certain bending moment of bearing; On bearing cap, be provided with Hall element, be used for position calibration.
Preferably, said two joints comprise axle bed, axle sleeve, bearing, gland, holding screw and motor; Its central axis seat play a part to connect one, two joints, fixing simultaneously in the middle of axle sleeve; Jackshaft is applied mechanically screw hole and is fixed, and fixes two bearings through spacer thereon, and motor is screwed on axle sleeve; On the bearing gland of upper end, have the hole that has keyway, a tangent plane is arranged on section, tangent plane is processed with screw thread, the fixedly employing holding screw and the key of motor shaft; On spacer, be provided with Hall element, initial motion position that can positioning joint.
Preferably; The form in said three articulation structure forms and a said joint is basic identical; Bearing adopts the mode that the outer ring is fixed, inner ring rotates; The cooperation that inner ring is tighter guarantees the stable and accurate of transmission; Convenient installation of cooperation of pine adopted in the outer ring, and motor shaft adopts the swelling cover transmission that has tangent plane in the connection of output sleeve simultaneously.
Preferably, said passive ball-joint comprises ball pivot collet, ball pivot pop-up, ball pivot lid, top-fastening rod, cam, rotation handgrip, turning cylinder, fixed cover, back-moving spring and locking nut; Said passive ball-joint can drive cam through the rotation swing handle, makes top-fastening rod carry out rectilinear motion, thereby compresses ball pivot, utilizes the pressure angle self-locking of cam, realizes fixedly ball-joint.Unclamp the rotation handgrip, drive top-fastening rod by back-moving spring and reset, unclamp ball-joint; Said ball pivot collet is fixed on the middle screwed hole of ball seat through screw thread; Recessed the hole that has step in fixed cover is used for fixing bearing; Bearing is fixed in the swing handle through locking nut and step, and in be threaded the hole the ball pivot bottom be fixed on the swing handle through screw.Top-fastening rod upper surface spherical aberration can cooperate with ball pivot, reaches good locking effect; Said ball pivot pop-up is fixed on the ball pivot collet, scribbles one deck rubber at the spherical surface of ball pivot, when making ball pivot locking, and the phenomenon that can occur becoming flexible not.
A kind of robot is characterized in that, comprises forearm and end effector, and said forearm and end effector are through linking to each other according to the described robot wrist of one of above technical scheme.
Through above technical scheme, the present invention has following beneficial effect:
1, compact conformation is installed simply, has reduced the size of wrist greatly and has improved wrist rigidity.
2, it is fixing that the motor shaft fixed form adopts the swelling cover that has tangent plane, stable drive.
3, the joint connects and to use seam, and adjustable mode is adopted in the position in joint, reduces the end-play of bearing through type selecting, and drive of motor adopts direct drive mode, has improved the precision of whole wrist.
4, the mode of employing active joint+passive ball-joint has improved the attitude adjusting range of wrist greatly.
In a word, this wrist joint structure has high accuracy, and size is little, and adjustable range is big.And stable drive is installed simple.
Description of drawings
Fig. 1 is robot wrist joint structure figure of the prior art;
Fig. 2 is robot wrist's joint model figure of the present invention;
Fig. 3 is robot wrist joint structure figure of the present invention
Fig. 4 is an articulation structure figure of robot wrist joint of the present invention;
Fig. 5 is two articulation structure figure of robot wrist joint of the present invention;
Fig. 6 is three articulation structure figure of robot wrist joint of the present invention;
Fig. 7 is the passive ball-joint structure chart of robot wrist joint of the present invention;
Fig. 8 is the active joint adjustable range sketch map of robot wrist joint of the present invention;
Fig. 9 is the adjustable range sketch map of robot wrist joint of the present invention.
1 shaft seat 2.M3 × 10 Slotted countersunk head screws 3.M2.5 × 6 Slotted countersunk head screws 4. Gland 5.61807 deep groove ball bearings 6. Inner spacer 7. Outer spacer 8.M2.5 Slotted countersunk head screws × 8 9 Hall sensor 10. joint connecting shaft 11.M3 × 9 Hexagon screw 12. gland 13. 14.M3 × 9 compression nut socket head cap screws 15. connecting seat 16.M2. 5 × 8 socket head cap screws 17. Gland? 18.61808 deep groove ball bearing 19. internal sleeve 20.EC32 + G? P32A-4 motor 21.M3 × 10 Slotted countersunk head screws 22. forearm welding 23.M2. 5 × 8 Slotted countersunk head screws 24.M3 × 8 Slotted countersunk head screws 25.A2 × 2 flat key 26. gland 27. spacer 28. gland 29. Hall detent plate 30.EC32 + G? P32A -4 motor 31. forearm welding 32.M3 × 10 Slotted countersunk head screws 33. bearing gland 34. deep groove ball bearings 20Cr35. inner spacer 36. outer spacer 37. connecting shaft 38 Hall sensor 39. gland 40. clamping nut 41.6-14-2 tight sets 42.M2.5 × 6 Slotted countersunk head screws 43.M2.5 × 8 socket head cap screws 44. terminal connecting seat 45. jacket 46. spacer 47 . lock nut? 48. lever 49.1000800 bearing 50 cam 51 top bar 52 connecting block 53. ball joints bottom bracket 54. turning the handle 55. ball joints 56. ball joints on prop 57. terminal 58. return spring
The specific embodiment
Fig. 2 shows the structure of robot wrist joint of the present invention.The robot wrist joint comprises a joint, two joints, three joints and passive ball-joint, and its concrete structure is shown in Fig. 3-5.
The motor in one joint is fixed on the motor bearing seat with the screw of 4 m3, and motor output shaft is pressed on the joint connecting axle with the swelling cover that has a tangent plane, in have the screw thread of m6 to compress.The bearing mounting means in this joint adopts; Inner ring rotates; The mode that the outer ring is fixing; Two 61807 deep groove ball bearing inner ring is fixed on the connecting axle in a joint; Right-hand member is fixed with the multidiameter of connecting axle, and an end compresses with gland, and bearing outer ring is fixed on the motor cabinet; Left end is fixed with the multidiameter of motor fixing seat, and right-hand member compresses with bearing cap.In the centre of two bearings interior outer separator is arranged, make this close the energy-conservation certain bending moment of bearing.The inner ring of bearing cooperates the tighter cooperation of employing, guarantees stability of transmission, and the cooperation of pine is adopted in the outer ring, and is convenient for assembly.On bearing cap, be stained with Hall element, be used for position calibration.Axle sleeve structure is adopted in this joint, makes the joint compact, stable drive.The fixed form of motor adopts the swelling cover that has tangent plane fixing, makes that connection is very firm, the phenomenon that motor shaft skids can not occur.
Guarantee the accurate location of axis in two joints in a joint with the machining accuracy of seam in the junction in a joint and two joints.Two joints are swinging joint, and its structure is by axle bed, axle sleeve, and bearing, gland, holding screw, motor is formed.Its central axis seat rises and connects one, two joints, the effect of fixing middle axle sleeve simultaneously.With the screw hole of high-precision processing, fixing middle axle sleeve.Middle axle sleeve fixes two 61808 deep groove ball bearings through spacer thereon, because bearing inner race is enclosed within on the workpiece, this structure axiality is very high, has guaranteed accurate transmission.Simultaneously motor is through axle sleeve, is fixed on the axle sleeve with the screw of 4 m3, makes very compactness of structure.On the bearing gland of upper end; Have the hole that has keyway; On section, have one long be 6 tangent plane; Tangent plane has much the screw thread of m2.5; The fixedly employing holding screw and the key of motor shaft; Drive of motor is steady like this, accurately, can not occur the phenomenon that motor rotates, output shaft does not rotate because of moving for a long time.On spacer, be with Hall element, initial motion position that can the accurate localization joint.
The axis in 3 joints whether with the axes intersect in a joint in a bit, depend on two factors: one is the machining accuracy of the output sleeve in 2 joints; The 2nd, when motion, be fixed on two 61808 the end-play in two joints.For first factor, because the output sleeve (motor fixing seat in 3 joints) in 2 joints is workpiece, can guarantee through machining accuracy, the 2nd, can regulate through middle spacer.For second factor, select two bearings that end-play is less for use, promptly can effectively be lowered into bearings mounted end-play.Take all factors into consideration, the axes intersect in axis and 3 joints that can guarantee 1 joint is in a bit.
The form in 3 articulation structure forms and 1 joint is identical substantially, and bearing also is that the employing outer ring is fixed, and inner ring rotates, and the cooperation that inner ring is tighter guarantees the stable and accurate of transmission, and the convenient installation of cooperation of pine is adopted in the outer ring.Motor shaft adopts the swelling cover transmission that has tangent plane in the connection of output sleeve simultaneously.
Passive ball-joint links to each other with 3 joints through the ball seat that has seam.Whole ball-joint comprises ball pivot collet, ball pivot pop-up, ball pivot lid, top-fastening rod, cam, rotation handgrip, turning cylinder, fixed cover, back-moving spring and locking nut; Said passive ball-joint can drive cam through the rotation swing handle, makes top-fastening rod carry out rectilinear motion, thereby compresses ball pivot, utilizes the pressure angle self-locking of cam, realizes fixedly ball-joint.Unclamp the rotation handgrip, drive top-fastening rod by back-moving spring and reset, unclamp ball-joint; Said ball pivot collet is fixed on the middle screwed hole of ball seat through screw thread; Recessed the hole that has step in fixed cover is used for fixing bearing; Bearing is fixed in the swing handle through locking nut and step, and in be threaded the hole the ball pivot bottom be fixed on the swing handle through screw.Top-fastening rod upper surface spherical aberration can cooperate with ball pivot, reaches good locking effect; Said ball pivot pop-up is fixed on the ball pivot collet, scribbles one deck rubber at the spherical surface of ball pivot, when making ball pivot locking, and the phenomenon that can occur becoming flexible not.
For the wrist structure of general active,, be difficult to accomplish adjust accurately attitude because the restriction of machinery generally can not be regulated 360 ° of omnibearing attitudes, and have only passive wrist structure.This wrist structure composition passive ball-joint and wrist structure initiatively, can the 360 ° of omnibearing adjustment in space.
The axis direction of getting 3 joints is the z direction of actuator.1 joint is 360 ° of cradle heads, and 2 joints are-90 °～90 ° swinging joint, thus 3 scopes of initiatively closing energy-conservation adjustment be a hemisphere as shown in Figure 7.
After adding passive ball-joint at the 3rd joint end, the end effector direction can be adjusted, and variation has taken place the adjustable range of this wrist like this, as shown in Figure 8.
For different ball-joint directions, it is the adjustment center line of joint adjustment attitude initiatively, and promptly end effector z direction is different.When the adjustment orientation of ball-joint is-90 °～90 ° is end effector direction 1 and end effector direction 3, can be known that by Fig. 8 this structure has the adjustment attitude scope of whole sphere.
The above only is several specific embodiment of the present invention, and above embodiment only is used for technical scheme of the present invention and inventive concept are done explanation and unrestricted claim scope of the present invention.All technical staff in the art combine prior art on the inventive concept basis of this patent, through the available other technologies scheme of logic analysis, reasoning or limited experiment, also should be considered to drop within the claim protection domain of the present invention.
Claims (7)
1. a robot wrist is used for the forearm of said robot is connected with hand, comprises
One joint, it is connected with the forearm of said robot, and can rotate around its axle, and the axle in a said joint is parallel to each other with said forearm;
Two joints, it is connected with a said joint, and can be around its axle swing, and the axle in said two joints is orthogonal with the axle in a said joint;
Three joints, it is connected with said two joints, and can rotate around its axle, and the axle in said three joints is orthogonal with the axle in said two joints;
Passive ball-joint, it is connected between said three joints and the end effector, and the ability locking positioning;
The axle in a said joint, two joints and three joints intersects at a point.
2. robot wrist according to claim 1; It is characterized in that; A said joint and three joints joint for can in 360 ° of scopes, rotating, the joint of said two joints in-90 °～90 ° scopes, swinging, said passive ball-joint can be adjusted in-90 °～90 ° scopes.
3. robot wrist according to claim 1 and 2 is characterized in that, the motor in a said joint is fixed on the motor bearing seat with screw, and motor output shaft is pressed on the connecting axle of joint with the swelling cover that has a tangent plane, in have screw thread to compress; The bearing mounting means in this joint adopts the mode that inner ring rotates, the outer ring is fixing, and bearing inner race is fixed on the connecting axle of joint, and bearing outer ring is fixed on the motor cabinet, and left end is fixed with the multidiameter of motor fixing seat, and right-hand member compresses with bearing cap; Also be provided with interior outer separator, make this close the energy-conservation certain bending moment of bearing; On bearing cap, be provided with Hall element, be used for position calibration.
4. robot wrist according to claim 1 and 2 is characterized in that, said two joints comprise axle bed, axle sleeve, bearing, gland, holding screw and motor; Its central axis seat play a part to connect one, two joints, fixing simultaneously in the middle of axle sleeve; Jackshaft is applied mechanically screw hole and is fixed, and fixes two bearings through spacer thereon, and motor is screwed on axle sleeve; On the bearing gland of upper end, have the hole that has keyway, a tangent plane is arranged on section, tangent plane is processed with screw thread, the fixedly employing holding screw and the key of motor shaft; On spacer, be provided with Hall element, initial motion position that can positioning joint.
5. robot wrist according to claim 1 and 2; It is characterized in that; The form in said three articulation structure forms and a said joint is basic identical; Bearing adopts the mode that the outer ring is fixed, inner ring rotates; The cooperation that inner ring is tighter guarantees the stable and accurate of transmission; Convenient installation of cooperation of pine adopted in the outer ring, and motor shaft adopts the swelling cover transmission that has tangent plane in the connection of output sleeve simultaneously.
6. robot wrist according to claim 1 and 2 is characterized in that, said passive ball-joint comprises ball pivot collet, ball pivot pop-up, ball pivot lid, holds out against cover of wedge, swing handle and location rubber ring; Said passive ball-joint can make that holding out against cover of wedge carries out rectilinear motion, thereby compress ball pivot through the rotation swing handle, realizes fixedly ball-joint; Said ball pivot collet is fixed on the middle screwed hole of ball seat through screw thread; The axle that has step protruding on ball seat is used for fixing bearing; Bearing is fixed in the swing handle through jump ring and step; And in be threaded the hole the ball pivot bottom be fixed on the swing handle through screw; Hold out against cover of wedge and be spun on the screwed ball pivot bottom, its rotation of square groove control is arranged and hold out against cover of wedge through screw thread; Said ball pivot pop-up is fixed on the ball pivot collet, in the ball pivot pop-up, has the groove of both direction, scribbles one deck rubber at the spherical surface of ball pivot, when making ball pivot locking, and the phenomenon that can occur becoming flexible not.
7. a robot is characterized in that, comprises forearm and end effector, and said forearm and end effector are through linking to each other according to the described robot wrist of one of claim 1-6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110168939A CN102303318A (en) | 2011-06-22 | 2011-06-22 | Robot wrist structure capable of realizing universal adjustment and accurate positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110168939A CN102303318A (en) | 2011-06-22 | 2011-06-22 | Robot wrist structure capable of realizing universal adjustment and accurate positioning |
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| CN102303318A true CN102303318A (en) | 2012-01-04 |
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| CN201110168939A Pending CN102303318A (en) | 2011-06-22 | 2011-06-22 | Robot wrist structure capable of realizing universal adjustment and accurate positioning |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607411A (en) * | 2012-03-06 | 2012-07-25 | 上海大学 | Measuring device for terminal pose of robot |
| CN104507411A (en) * | 2012-07-31 | 2015-04-08 | 奥林巴斯株式会社 | Medical manipulator and treatment tool replacement method |
| CN105150213A (en) * | 2015-08-03 | 2015-12-16 | 吉林大学 | Multifunctional clamping mechanical hand |
| CN106737635A (en) * | 2017-02-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of modular structure and robot for robot |
| CN109153115A (en) * | 2016-04-27 | 2019-01-04 | 奥维罗有限责任公司 | For the programmable motor-driven movable joint for automatically moving machine |
| CN110253624A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | Waist joint mechanism and robot |
| CN112228451A (en) * | 2020-10-23 | 2021-01-15 | 埃夫特智能装备股份有限公司 | Connecting structure between small arm part and wrist part of four-joint industrial robot |
| CN113910288A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
-
2011
- 2011-06-22 CN CN201110168939A patent/CN102303318A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607411A (en) * | 2012-03-06 | 2012-07-25 | 上海大学 | Measuring device for terminal pose of robot |
| CN104507411A (en) * | 2012-07-31 | 2015-04-08 | 奥林巴斯株式会社 | Medical manipulator and treatment tool replacement method |
| CN105150213A (en) * | 2015-08-03 | 2015-12-16 | 吉林大学 | Multifunctional clamping mechanical hand |
| CN109153115A (en) * | 2016-04-27 | 2019-01-04 | 奥维罗有限责任公司 | For the programmable motor-driven movable joint for automatically moving machine |
| CN106737635A (en) * | 2017-02-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of modular structure and robot for robot |
| CN110253624A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | Waist joint mechanism and robot |
| CN112228451A (en) * | 2020-10-23 | 2021-01-15 | 埃夫特智能装备股份有限公司 | Connecting structure between small arm part and wrist part of four-joint industrial robot |
| CN113910288A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
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Application publication date: 20120104 |