CN103029137A - Robot wrist part, robot upper arm and arc welding robot - Google Patents
Robot wrist part, robot upper arm and arc welding robot Download PDFInfo
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- CN103029137A CN103029137A CN2012105570464A CN201210557046A CN103029137A CN 103029137 A CN103029137 A CN 103029137A CN 2012105570464 A CN2012105570464 A CN 2012105570464A CN 201210557046 A CN201210557046 A CN 201210557046A CN 103029137 A CN103029137 A CN 103029137A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 133
- 238000003466 welding Methods 0.000 title claims description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 66
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 210000000245 forearm Anatomy 0.000 claims description 44
- 238000005096 rolling process Methods 0.000 claims description 31
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000000654 additive Substances 0.000 claims description 4
- 230000000996 additive effect Effects 0.000 claims description 4
- 239000011295 pitch Substances 0.000 claims description 4
- 230000000750 progressive effect Effects 0.000 claims description 4
- 230000008520 organization Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The invention discloses a robot wrist part, which comprises a box body, a wrist shell, a rotary disc, a first driver, a first transmission mechanism, a second driver and a second transmission mechanism, wherein the wrist shell is rotatablely connected with the box body; the rotary disc is rotatablely connected with the wrist shell; the first driver is used for driving the wrist shell to rotate; the first transmission mechanism is arranged between the first driver and the wrist shell; the second driver is used for driving the rotary disc to rotate; the second transmission mechanism is arranged between the second driver and the rotary disc; the first driver and the second driver are arranged on the box body; the wrist shell is arranged outside the box body; and the first transmission mechanism and the second transmission mechanism are adjacently arranged in the box body and are both positioned on one side of the wrist shell. According to the robot wrist part, the transmission mechanisms for controlling rotation of the wrist shell and self-rotation of the rotary disc are arranged on one side of the wrist shell respectively; the robot wrist part has a more compact structure; the space occupied by the integral structure of the robot wrist part is reduced; and the robot wrist shell, the rotary disc and a control mechanism are integrated, so that a robot is convenient to mount, debug and maintain.
Description
Technical field
The present invention relates to a kind of robot wrist, robot upper arm and arc welding robot.
Background technology
Vertical articulated robot is generally more than 4 joints, the axis of its adjacent segment is heterogeneous vertical mutually, the vertical multi-joint industrial robot of little load who is no more than 20Kg generally is applied to the industrial automations such as arc-welding, carrying, lathe loading and unloading, wherein occupies maximum ratio with arc-welding again.In early days, arc welding robot generally adopts the universal type industrial robot, and this type of robot can be applied to the multiple industrial automations such as welding, carrying, gluing, lathe loading and unloading.The universal type industrial robot mainly is as for the robots such as spraying, piling with respect to some special-purpose models.
In the arc-welding integrating process, the user needs the required peripheral equipment such as welding gun, wire-feed motor, wire reel and associated cable, pipeline are integrated on the industrial machine human body, usually welding gun is clamped in the terminal wrist portion of arc welding robot, to carry out various arc-welding operations.The action of the terminal wrist portion of existing arc welding robot mainly is that the wrist housing rotates and the rolling disc rotation, usually first, second transmission mechanism that will control the rotation of wrist housing and rolling disc rotation is located at respectively the both sides of wrist housing, then need be provided for holding the receiving space of described wrist housing between two transmission mechanisms.
In the research and practice process to prior art, the present inventor finds, in the above-mentioned prior art: the receiving space that between first, second transmission mechanism of the housing rotation of control wrist and rolling disc rotation, is provided for holding the wrist housing, this receiving space will take the space of wrist portion, cause between each parts of wrist portion structure not compact; Moreover described wrist portion casing need extend two and be used for the first and second supporting walls that first, second transmission mechanism is connected with wrist housing, turn disc respectively, has increased the cost of wrist portion casing.
Summary of the invention
The present invention provides a kind of robot wrist, robot upper arm and arc welding robot for solving the defectives such as robot wrist structure is not compact in the prior art.
For achieving the above object, the present invention is by the following technical solutions:
A kind of robot wrist, comprise casing, the wrist housing that is rotationally connected with described casing, the rolling disc that is rotationally connected with described wrist housing, drive the first driver that described wrist housing rotates, be located at the first transmission mechanism between described the first driver and the wrist housing, drive the second driver of described turn disc and be located at the second transmission mechanism between described the second driver and the rolling disc, described first, the second driver is installed on the described casing, described wrist housing is located at the described casing outside, described first, the second transmission mechanism is adjacent to be arranged in the described casing, and all be positioned at a side of described wrist housing, described the first transmission mechanism comprises the first worm shaft that is connected with a joggle with the first driver and the first worm gear that is connected with a joggle with this first worm shaft, described the first worm gear is connected with described wrist housing, described the first worm shaft drives described the first worm gear and rotates under the first driver drives, the rotational angle of described the first worm gear is the rotational angle of wrist housing; Described the second transmission mechanism comprises the second worm shaft that is connected with a joggle with the second driver and the second worm gear that is connected with a joggle with this second worm shaft, described the second worm shaft drives described the second worm gear and rotates, described the second worm gear is connected with described rolling disc, and the rotational angle of described the second worm gear is the angle that rolling disc rotates relative to wrist housing centre bore axis.
Described first, second worm shaft is the worm with variable tooth thickness axle, and the left and right flank of tooth of described worm with variable tooth thickness axle has different helical pitches, and its transverse tooth thickness is from worm with variable tooth thickness axle one end toward its other end equably progressive additive or attenuate.
Described first, second transmission mechanism comprises respectively that also be used to the pad of adjusting described first, second worm gear and described first, second worm shaft meshing backlass, described pad is located at respectively between the flange of described casing and described first, second worm shaft bearing block.
A kind of robot upper arm, the forearm that comprise foregoing robot wrist, is connected with described robot wrist and the first ancon that is connected with described forearm, described robot wrist is provided with the erecting bed with the corresponding coupling of interface of described forearm, so that described robot wrist can be directly installed on the described forearm of the different brachiums that removably connect from the first ancon.
Described the first ancon one end is provided with the centre bore that passes the first ancon, this the first ancon centre bore is communicated with the hollow hole that is arranged on described forearm one side, the centre bore that described hollow hole and described wrist housing are provided with is relative and establish, and the centre bore of the centre bore of described the first ancon, the hollow hole of described forearm and described wrist housing is used for making and cable or pipeline pass.
Described the first ancon comprises to be located at the 3rd transmission mechanism in described the first ancon and to drive described the 3rd transmission mechanism and be located at the 3rd driver on the first ancon.
Described the 3rd transmission mechanism comprises the 3rd worm with variable tooth thickness axle that is connected with a joggle with the 3rd driver and the 3rd worm gear that is connected with a joggle with the 3rd worm with variable tooth thickness axle, described the 3rd worm with variable tooth thickness axle drives described the 3rd worm gear and rotates under the 3rd driver drives, the rotational angle of described the 3rd worm gear is the angle that described forearm rotates relative to described the first ancon centre bore axis.
A kind of arc welding robot comprises foregoing robot upper arm, the large arm that is connected with described robot upper arm and the base that is rotationally connected with described large arm.
Described large arm one end is provided with the second ancon that is connected with robot ' s arm, and described the second ancon comprises the second ancon shell, be located at the 4th transmission mechanism in described the second ancon shell and drive described the 4th transmission mechanism and be located at the 4th driver on the second ancon shell.
Between described the first ancon and the second ancon, be provided with for the platform that arc welding equipment is installed.
Described base is provided with centre bore, and the cable of described arc welding robot or pipeline pass described wrist housing centre bore, forearm hollow hole, the first ancon centre bore and centre hole of base successively.
A kind of robot wrist of the present invention, with respect to prior art, control wrist housing rotates and the transmission mechanism of rolling disc rotation is located at respectively described wrist housing one side, be about to control that the wrist housing rotates and the transmission mechanism of rolling disc rotation is installed in the same casing, be connected with the wrist housing again; This robot wrist minute comes controlling organization (driver and transmission mechanism) and action component (wrist housing and rolling disc), and more compact structure has reduced the shared space of robot wrist overall structure; And with the integrated integral body of robot wrist's housing, rolling disc and controlling organization, be convenient to installation, debugging and the maintenance of robot.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment.
Fig. 1 is one one kinds of robot wrist sections of embodiment of the invention stereogram;
Fig. 2 is one one kinds of robot wrist sections of embodiment of the invention cutaway view;
Fig. 3 is one one kinds of robot wrist sections of the embodiment of the invention the first transmission mechanism structural representations;
Fig. 4 is one one kinds of robot wrist sections of the embodiment of the invention the second transmission mechanism structural representations;
Fig. 5 is the second transmission mechanism structure partial figure of one one kinds of robot wrist sections of the embodiment of the invention;
Fig. 6 is 21 kinds of robots of embodiment of the invention upper arm stereogram one;
Fig. 7 is 21 kinds of robots of embodiment of the invention upper arm stereogram two;
Fig. 8 is 21 kinds of robots of embodiment of the invention upper arm structure schematic diagram one;
Fig. 9 is 21 kinds of robots of embodiment of the invention upper arm structure schematic diagram two;
Figure 10 is 21 kinds of robot upper arm of the embodiment of the invention the 3rd transmission mechanism structural representations.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Embodiment one
A kind of robot wrist, as depicted in figs. 1 and 2, comprise casing 1, and the wrist housing 2 that is rotationally connected of described casing 1, and the rolling disc 3 that is rotationally connected of described wrist housing 2, drive the first driver 4 that described wrist housing 2 rotates, be located at the first transmission mechanism between described the first driver 4 and the described wrist housing 2, drive the second driver 5 that described rolling disc 3 rotates and be located at the second transmission mechanism between described the second driver 5 and the rolling disc 3; Described first, second driver is installed on the described casing 1, and preferred, first, second driver one end is connected with first, second transmission mechanism respectively described in the present embodiment, and the other end then exposes the outside of described casing 1; Described wrist housing 2 is located at described casing 1 outside, and preferred, described wrist housing is fitted and connected by a lateral surface of rotatable platform and described casing; As shown in Figure 2, described first, second transmission mechanism is adjacent to be arranged in the described casing 1, and all is positioned at a side of described wrist housing 2, so that the more compact structure of described robot wrist.
Described the first transmission mechanism comprises the first worm shaft 6 that is connected with a joggle with the first driver 4 and the first worm gear 7 that is connected with a joggle with this first worm shaft, described the first worm gear 7 is connected with described wrist housing 2, described the first worm shaft 6 drives described the first worm gear 7 and rotates under the driving of the first driver 4, the rotational angle of described the first worm gear is the rotational angle of wrist housing 2.Preferred the first transmission mechanism structure of present embodiment as shown in Figures 2 and 3, the motor shaft of described the first driver 4 is connected with the first gear shaft 402 by the first shaft coupling 401, described the first gear shaft 402 is connected with a joggle with the first gear 403 that is installed on the first worm shaft 6, described the first worm shaft 6 and the first worm gear 7 are connected with a joggle, and described the first worm gear 7 is connected with wrist housing 2; Under the driving of the first driver 4, described the first gear shaft 402 drives the first gear 403 and rotates, described the first gear 403 drives the first worm shaft 6 and rotates, described the first worm shaft 6 drives the first worm gear 7 and rotates, described the first worm gear 7 is sent to rotation the wrist housing again, and the rotational angle of described the first worm gear 7 is the angle that described wrist housing 2 rotates relative to described casing 1.
Described the second transmission mechanism comprises the second worm shaft 8 that is connected with a joggle with the second driver 5 and the second worm gear 9 that is connected with a joggle with this second worm shaft, described the second worm shaft drives described the second worm gear 9 and rotates, described the second worm gear 9 is connected with described rolling disc 3, and the rotational angle of described the second worm gear 9 is the angle that rolling disc 3 rotates relative to the axis of wrist housing centre bore 10.Preferred the second transmission mechanism structure of present embodiment such as Fig. 2, Fig. 3 and shown in Figure 4, the motor shaft of described the second driver 5 is connected with a joggle by the idler gear 2 503 on idler gear 1 and the intermediate gear shaft 1, described intermediate gear shaft 1 is connected with a joggle with the idler gear 3 504 that is installed on the second worm shaft 8, the second worm shaft 8 is connected with a joggle with the second worm gear 9 that is installed on the second gear shaft 505, described the second gear shaft 505 and the second gear 506 are connected with a joggle, and described the second gear 506 is connected with rolling disc 3; Under the driving of described the second driver 5, described idler gear 1, intermediate gear shaft 1 and idler gear 2 503 drive described the second worm shaft 8 and rotate, described the second worm shaft 8 drives described the second worm gear 9 and rotates, described the second worm gear 9 drives described the second gear 506 and rotates, described the second gear 506 is sent to rotation described rolling disc 3 again, and the rotational angle of described the second gear 506 is the angle that described rolling disc 3 rotates relative to the axis of described wrist housing centre bore 10.
Preferably, described first, second driver is servomotor.
According to robot wrist of the present invention, described first, second worm shaft is the worm with variable tooth thickness axle, the left and right flank of tooth of described worm with variable tooth thickness axle has different helical pitches, but the same flank of tooth has identical helical pitch, and the transverse tooth thickness of described worm with variable tooth thickness axle is from worm with variable tooth thickness axle one end toward its other end equably progressive additive or attenuate.Usually, the worm and gear axle is after work a period of time, mutually wearing and tearing between worm shaft and the worm gear, to cause the increase of backlash between the two, therefore the final gear motion that affect between worm shaft and the worm gear, is designed to transverse tooth thickness from the past other end of an end equably progressive additive or attenuate with worm shaft, when the backlash between worm shaft and the worm gear increases, worm shaft can be reduced backlash between worm shaft and the worm gear toward the direction adjustment that thickens.
According to robot wrist of the present invention, described first, second transmission mechanism also comprises respectively be used to the pad of adjusting described first, second worm gear and described first, second worm shaft meshing backlass, and described pad is located at respectively between the flange of flange, the second worm shaft bearing block of described casing 1 and described the first worm shaft bearing block.Be the structure partial figure of the second transmission mechanism such as Fig. 5, described pad 11 is located between the flange 12 of described casing 1 and described the second worm shaft bearing block, when the backlash between described the second worm shaft 8 and the second worm gear 9 increases, can between the flange 12 of described the second worm shaft bearing block and described casing 1, pad be set, so that described the second worm gear 9 is meshed with the place of described the second worm shaft 8 transverse tooth thickness, greatly reduced backlash.Common worm couple moves radially to adjust the engagement backlash with worm shaft, but can change the centre-to-centre spacing of worm couple, thereby causes flank of tooth contact situation variation, even unstable wear, and the precision of worm couple is reduced greatly; And introduce the application of worm with variable tooth thickness axle, as long as by worm shaft move axially to adjust the engagement backlash, need not to change the centre-to-centre spacing of turbine and worm pair, and backlash can tune to below the 0.5arcmin, transmission efficiency can reach 70%.This change transverse tooth thickness worm couple is better than the hypoid gear of identical speed reducing ratio, multistage ordinary gear transmission, in addition, compares with harmonic speed reducer, and cost is lower.
A kind of robot wrist of the present invention, with respect to prior art, control wrist housing rotates and the transmission mechanism of rolling disc rotation is located at respectively described wrist housing one side, be about to control that the wrist housing rotates and the transmission mechanism of rolling disc rotation is installed in the same casing, be connected with the wrist housing again; This robot wrist minute comes controlling organization (driver and transmission mechanism) and action component (wrist housing and rolling disc), and more compact structure has reduced the shared space of robot wrist overall structure; And with the integrated integral body of robot wrist's housing, rolling disc and controlling organization, be convenient to installation, debugging and the maintenance of robot.
Embodiment two
A kind of robot upper arm, extremely shown in Figure 9 such as Fig. 6, comprise above-mentioned robot wrist, the forearm 13 that is connected with described robot wrist and the first ancon 14 that is connected with described forearm 13, described robot wrist is provided with the erecting bed with the corresponding coupling of interface of described forearm, preferably, described interface and erecting bed are flange and the mounting flange of mutually coupling, be equipped with on described flange and the mounting flange and mutual corresponding screwed hole, during installation, screwed hole on flange and the mounting flange is alignd, again screw is inserted screwed hole successively, thereby described robot wrist is fixedly connected with forearm; In the present embodiment, according to the actual motion scope, the forearm of replaceable different brachiums, be illustrated in figure 9 as the lengthening schematic diagram of the forearm of Fig. 8, the flange size of different brachium forearms is identical, the flange of different brachium forearms all mates with the mounting flange of described robot wrist, so that described robot wrist need not to change on the described forearm that various parts just can be directly installed on different brachiums, described forearm 13 and the first ancon 14 removably connect, when changing the forearm of different brachiums, described forearm must be connected with the mounting flange coupling of robot wrist except an end interface flange, and other end flange also must be connected with described the first ancon 14 couplings.
According to robot of the present invention upper arm, described the first ancon one end is provided with the centre bore 15 that passes the first ancon, this the first ancon centre bore 15 is communicated with the hollow hole 16 that is arranged on described forearm 13 1 sides, centre bore 10 homonymies that described hollow hole 16 and described wrist housing are provided with are relative and establish, the centre bore 15 of described the first ancon, the hollow hole 16 of described forearm and the centre bore of described wrist housing 10 are used for cable or pipeline are passed, for the cable of convenient described robot or pipeline passes and fixing, centre bore 10 homonymies that hollow hole 16 and described wrist housing are provided with are relative and establish.
According to robot of the present invention upper arm, described the first ancon 14 comprises to be located at the 3rd transmission mechanism in described the first ancon and to drive described the 3rd transmission mechanism and be located at the 3rd driver 17 on described the first ancon 14.
According to robot of the present invention upper arm, as shown in figure 10, described the 3rd transmission mechanism comprises the 3rd worm with variable tooth thickness axle 18 that is connected with a joggle with the 3rd driver 17 and the 3rd worm gear 19 that is connected with a joggle with the 3rd worm shaft, described the 3rd worm with variable tooth thickness axle 18 drives described the 3rd worm gear 19 and rotates under the driving of the 3rd driver 17, the rotational angle of described the 3rd worm gear 19 is the angle that described forearm 13 rotates relative to described the first ancon centre bore 15 axis.Preferred the 3rd transmission mechanism structure of present embodiment as shown in figure 10, the motor shaft of described the 3rd driver 17 is connected with the 3rd gear shaft 1702 by the 3rd shaft coupling 1701, described the 3rd gear shaft 1702 is connected with a joggle with the 3rd gear 1703 that is installed on the 3rd worm with variable tooth thickness axle 18, described the 3rd worm with variable tooth thickness axle 18 and the 3rd worm gear 19 are connected with a joggle, and described the 3rd worm gear 19 is connected with described forearm 13; Under the driving of the 3rd driver 17, described the 3rd gear shaft 1702 drives the 3rd gear 1703 and rotates, described the 3rd gear 1703 drives the 3rd worm with variable tooth thickness axle 18 and rotates, described the 3rd worm with variable tooth thickness axle 18 drives the 3rd worm gear 19 and rotates, described the 3rd worm gear 19 is sent to rotation forearm 13 again, and the rotational angle of described the 3rd worm gear 19 is the angle of the axial rotation of relatively described the first ancon centre bore 15 of described forearm 13.
A kind of robot of present embodiment upper arm, with respect to prior art; forearm can lengthen; can increase the range of movement of robot upper arm; moreover; the flange size at the two ends of the forearm of different length is all consistent, and is complementary with the mounting flange of the first ancon and the mounting flange of robot wrist respectively, and the replacing of being convenient to forearm is installed.In addition, because the setting of wrist centre bore, forearm side hollow hole and the first ancon centre bore, be convenient to the cable of robot and pipeline pass through and fixing, on the one hand, can guarantee the minimum bending radius of cable or pipeline, avoid to greatest extent cable or pipeline and peripheral working environment to interfere, prevent cable or pipeline overbending, reverse, wear and tear and damage too early; On the other hand, when off-line programing, be more prone to predict the trend of circuit or pipeline, improve off-line programing efficient.
Embodiment three
A kind of arc welding robot, with reference to figure 6 to Fig. 9, the large arm 20 that comprise foregoing robot upper arm, is connected with described robot upper arm and the base 21 that is rotationally connected with described large arm.The controlling organization of the robot wrist on the described robot upper arm (driver and transmission mechanism) is the module that works alone, and described large arm rotates relative to base by the controlling organization which is provided with.
According to arc welding robot of the present invention, described large arm one end is provided with the second ancon 22 that is connected with robot ' s arm 20, and described the second ancon 22 comprises the second ancon shell, be located at the 4th transmission mechanism in described the second ancon shell and drive described the 4th transmission mechanism and be located at the 4th driver on the second ancon shell.Preferably, described the 4th transmission mechanism comprises the 4th worm with variable tooth thickness axle that is connected with a joggle with the 4th driver and the 4th worm gear that is connected with a joggle with the 4th worm shaft, described the 4th worm shaft drives described the 4th worm gear and rotates under the driving of the 4th driver, the rotational angle of described the 4th worm gear is the rotational angle of described forearm 13.
According to arc welding robot of the present invention, consider the different application demand such as arc-welding, carrying of arc welding robot, usually with the equipment of arc welding robot, be integrated on the robot body such as welding gun, wire-feed motor, wire reel etc., therefore, in the present embodiment, between described the first ancon 14 and the second ancon 22, be provided with for the platform 23 that arc welding equipment is installed, to make things convenient for the user controller, wire-feed motor etc. be installed.
According to arc welding robot of the present invention, described base is provided with centre bore 24, and the cable of described arc welding robot or pipeline pass described wrist housing centre bore 10, forearm hollow hole 16, the first ancon centre bore 15 and centre hole of base 24 successively.
A kind of arc welding robot of present embodiment, with respect to prior art, at first, control wrist housing rotates and the transmission mechanism of rolling disc rotation is located at respectively described wrist housing one side, be about to control that the wrist housing rotates and the transmission mechanism of rolling disc rotation is installed in the same casing, be connected with the wrist housing again; This robot wrist minute comes controlling organization (driver and transmission mechanism) and action component (wrist housing and rolling disc), and more compact structure has reduced the shared space of robot wrist overall structure; And with the integrated integral body of robot wrist's housing, rolling disc and controlling organization, be convenient to installation, debugging and the maintenance of robot.Moreover, the forearm of robot upper arm can lengthen, can increase the range of movement of robot upper arm, and the flange size at the two ends of the forearm of different length is all consistent, the two ends flange is complementary with the mounting flange of the first ancon and the mounting flange of robot wrist respectively again, and the replacing of being convenient to forearm is installed.In addition, because the setting of wrist centre bore, forearm side hollow hole and the first ancon centre bore, be convenient to the cable of robot and pipeline pass through and fixing, on the one hand, can guarantee the minimum bending radius of cable or pipeline, avoid to greatest extent cable or pipeline and peripheral working environment to interfere, prevent cable or pipeline overbending, reverse, wear and tear and damage too early; On the other hand, when off-line programing, be more prone to predict the trend of circuit or pipeline, improve off-line programing efficient.
Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (11)
1. robot wrist, comprise casing, the wrist housing that is rotationally connected with described casing, the rolling disc that is rotationally connected with described wrist housing, drive the first driver that described wrist housing rotates, be located at the first transmission mechanism between described the first driver and the wrist housing, drive the second driver of described turn disc and be located at the second transmission mechanism between described the second driver and the rolling disc, it is characterized in that: described first, the second driver is installed on the described casing, described wrist housing is located at the described casing outside, described first, the second transmission mechanism is adjacent to be arranged in the described casing, and all be positioned at a side of described wrist housing, described the first transmission mechanism comprises the first worm shaft that is connected with a joggle with the first driver and the first worm gear that is connected with a joggle with this first worm shaft, described the first worm gear is connected with described wrist housing, described the first worm shaft drives described the first worm gear and rotates under the first driver drives, the rotational angle of described the first worm gear is the rotational angle of wrist housing; Described the second transmission mechanism comprises the second worm shaft that is connected with a joggle with the second driver and the second worm gear that is connected with a joggle with this second worm shaft, described the second worm shaft drives described the second worm gear and rotates, described the second worm gear is connected with described rolling disc, and the rotational angle of described the second worm gear is the angle that rolling disc rotates relative to wrist housing centre bore axis.
2. robot wrist according to claim 1, it is characterized in that: described first, second worm shaft is the worm with variable tooth thickness axle, the left and right flank of tooth of described worm with variable tooth thickness axle has different helical pitches, and its transverse tooth thickness is from worm with variable tooth thickness axle one end toward its other end equably progressive additive or attenuate.
3. robot wrist according to claim 2, it is characterized in that: described first, second transmission mechanism comprises respectively that also be used to the pad of adjusting described first, second worm gear and described first, second worm shaft meshing backlass, described pad is located at respectively between the flange of described casing and described first, second worm shaft bearing block.
4. robot upper arm, it is characterized in that: comprise each described robot wrist of claims 1 to 3, the forearm that is connected with described robot wrist and the first ancon that is connected with described forearm, described robot wrist is provided with the erecting bed with the corresponding coupling of interface of described forearm, so that described robot wrist can be directly installed on the described forearm of the different brachiums that removably connect from the first ancon.
5. robot according to claim 4 upper arm, it is characterized in that: described the first ancon one end is provided with the centre bore that passes the first ancon, this the first ancon centre bore is communicated with the hollow hole that is arranged on described forearm one side, the centre bore that described hollow hole and described wrist housing are provided with is relative and establish, and the centre bore of the centre bore of described the first ancon, the hollow hole of described forearm and described wrist housing is used for making and cable or pipeline pass.
6. robot according to claim 5 upper arm is characterized in that: described the first ancon comprises to be located at the 3rd transmission mechanism in described the first ancon and to drive described the 3rd transmission mechanism and be located at the 3rd driver on the first ancon.
7. robot according to claim 6 upper arm, it is characterized in that: described the 3rd transmission mechanism comprises the 3rd worm with variable tooth thickness axle that is connected with a joggle with the 3rd driver and the 3rd worm gear that is connected with a joggle with the 3rd worm with variable tooth thickness axle, described the 3rd worm with variable tooth thickness axle drives described the 3rd worm gear and rotates under the 3rd driver drives, the rotational angle of described the 3rd worm gear is the angle that described forearm rotates relative to described the first ancon centre bore axis.
8. arc welding robot is characterized in that: comprise each described robot upper arm of claim 4 to 7, the large arm that is connected with described robot upper arm and the base that is rotationally connected with described large arm.
9. arc welding robot according to claim 8, it is characterized in that: described large arm one end is provided with the second ancon that is connected with robot ' s arm, and described the second ancon comprises the second ancon shell, be located at the 4th transmission mechanism in described the second ancon shell and drive described the 4th transmission mechanism and be located at the 4th driver on the second ancon shell.
10. arc welding robot according to claim 9 is characterized in that: be provided with between described the first ancon and the second ancon for the platform that arc welding equipment is installed.
11. arc welding robot according to claim 8 is characterized in that: described base is provided with centre bore, and the cable of described arc welding robot or pipeline pass described wrist housing centre bore, forearm hollow hole, the first ancon centre bore and centre hole of base successively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210557046.4A CN103029137B (en) | 2012-12-19 | 2012-12-19 | Robot wrist part, robot upper arm and arc welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210557046.4A CN103029137B (en) | 2012-12-19 | 2012-12-19 | Robot wrist part, robot upper arm and arc welding robot |
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| CN103029137A true CN103029137A (en) | 2013-04-10 |
| CN103029137B CN103029137B (en) | 2017-02-08 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104117990A (en) * | 2013-04-23 | 2014-10-29 | 中国科学院沈阳自动化研究所 | Robot wrist for precise laser machining |
| CN106437105A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨理工大学 | Suspended multi-degree of freedom painting machine for high-rise building exterior walls |
| CN106938460A (en) * | 2017-04-28 | 2017-07-11 | 广西壮族自治区机械工业研究院 | A kind of multi-joint industrial robot |
| CN109015619A (en) * | 2018-10-26 | 2018-12-18 | 安徽理工大学 | A kind of mechanical arm |
| JP2020146763A (en) * | 2019-03-11 | 2020-09-17 | ファナック株式会社 | robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104117990A (en) * | 2013-04-23 | 2014-10-29 | 中国科学院沈阳自动化研究所 | Robot wrist for precise laser machining |
| CN104117990B (en) * | 2013-04-23 | 2015-12-16 | 中国科学院沈阳自动化研究所 | A kind of robot wrist towards laser precision machining |
| CN106437105A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨理工大学 | Suspended multi-degree of freedom painting machine for high-rise building exterior walls |
| CN106938460A (en) * | 2017-04-28 | 2017-07-11 | 广西壮族自治区机械工业研究院 | A kind of multi-joint industrial robot |
| CN109015619A (en) * | 2018-10-26 | 2018-12-18 | 安徽理工大学 | A kind of mechanical arm |
| JP2020146763A (en) * | 2019-03-11 | 2020-09-17 | ファナック株式会社 | robot |
| JP7101134B2 (en) | 2019-03-11 | 2022-07-14 | ファナック株式会社 | robot |
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