CN103101052A - Wrist of robot - Google Patents
Wrist of robot Download PDFInfo
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- CN103101052A CN103101052A CN2013100604223A CN201310060422A CN103101052A CN 103101052 A CN103101052 A CN 103101052A CN 2013100604223 A CN2013100604223 A CN 2013100604223A CN 201310060422 A CN201310060422 A CN 201310060422A CN 103101052 A CN103101052 A CN 103101052A
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- deceleration unit
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010006514 bruxism Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention provides a robot wrist which can achieve independent swinging and rotation of the robot wrist, and belongs to the technical field of an industrial robot. The wrist of the robot can solve the problems that swinging and rotation of an existing robot wrist mutually interfere, structure is complex, assembly is miscellaneous, and operation is not stable. A wrist of a robot comprises a wrist body, the wrist body is provided with a first transmission unit inside, a first deceleration unit is arranged on one side of a wrist body, and a second transmission unit is arranged on the other side of the wrist body. The first transmission unit is connected with the first deceleration unit and the second transmission unit. A second deceleration unit is arranged on one side, opposite to the first transmission unit, and the second deceleration unit is connected with the second transmission unit. The first deceleration unit and the second deceleration unit are arranged on a connecting part, and the second transmission unit is connected on the connecting part in a rotating mode.
Description
Technical field
The invention belongs to the Industrial Robot Technology field, be specifically related to a kind of wrist of robot.
Background technology
Industrial robot is in extensive use and industrial production, and especially in the welding of auto panel, handling process, the wrist portion of these industrial robots need to be done and swing and circumference rotates two kinds of motions, thereby satisfies industrial demand.Therefore, the connecting plate that the transmission device that the wrist of industrial robot generally includes the wrist body that is connected with large arm, wrist body inside drives the wrist external body swings, and drives the rotary flange rotation on connecting plate, realizes the motion of two frees degree of wrist portion.Existing robot wrist swing and rotate mutually interfere, complex structure, assemble loaded down with trivial details, fluctuation of service.
Summary of the invention
The objective of the invention is to swing and rotate mutually for existing robot wrist interfere, complex structure, assemble loaded down with trivial detailsly, the problem of fluctuation of service provides a kind of robot wrist that can realize that the robot wrist independently swings and rotates.
The technical scheme that solution the technology of the present invention problem adopts is a kind of wrist of robot, comprising:
Inside is provided with the wrist body of the first gear unit, and a side of described wrist body is provided with the first deceleration unit, and opposite side is provided with the second gear unit, wherein, described the first gear unit respectively with described the first deceleration unit be connected the second gear unit and be connected;
The side that described the first gear unit is relative is provided with the second deceleration unit, and described the second deceleration unit is connected with described the second gear unit;
Described the first deceleration unit and described the second deceleration unit are arranged on connector, and described the second gear unit is rotatably connected on connector.
Preferably, the second driving cog that the output of described the first gear unit wears inside and outside being and the first driving cog, and respectively with the engagement of the input of the second gear unit and the first deceleration unit.
Preferably, the input of described the first gear unit is connected with the output of the driver element that power is provided.
Preferably, described the second gear unit comprises:
Two power transmission shafts that be arranged in parallel, the two ends of power transmission shaft arrange respectively gear wheel and pinion, described gear wheel is intermeshing, described pinion respectively with the engagement of the input of the second travelling gear, the second deceleration unit;
Described connector is set on the power transmission shaft with the second travelling gear engagement.
Preferably, the output of described the second deceleration unit is connected with rotary flange.
Preferably, the extended line of described the second deceleration unit and the axis of described the first deceleration unit 20 is in same level and mutually vertical.
Preferably, the extended line of the axis of described the second gear unit and described the first deceleration unit is parallel lines.
Preferably, described connector has the cavity that holds the second gear unit and the second deceleration unit.
Preferably, the output of described the first deceleration unit is fixedly connected with connector.
The wrist of robot of the present invention can realize that the robot wrist independently swings and rotates, mutually noninterfere, is independent of each other, and also simple in structure, assemble easy, stable.
Description of drawings
Fig. 1 is the external structure schematic diagram of the wrist of industrial robot in the embodiment of the present invention 1.
Fig. 2 is the structural representation of the inside of the wrist of industrial robot in the embodiment of the present invention 1.
Fig. 3 is the structural representation of the first gear unit in the embodiment of the present invention 1.
Fig. 4 is to be the A-A direction cutaway view of Fig. 1 in the embodiment of the present invention 1.
Fig. 5 is the structural representation of connector in the embodiment of the present invention 1.
Wherein:
10. wrist body; 11. the first travelling gear; 12. the second travelling gear; 13. driver element;
131. macro-axis; 132. little axle; 135. spur gear; 136. spur gear; 137. servomotor; 14. the first power transmission shaft; 141. perforation; 15. second driving shaft; 151. perforation;
20. the first deceleration unit;
30. the second gear unit; 31 (a). power transmission shaft; 31 (b). power transmission shaft; 32. gear wheel; 33. pinion; 33 (a). pinion; 33 (b). pinion;
40. the second deceleration unit;
50. connector; 501. hole slot; 502 (a). through hole; 502 (b). through hole; 503. chamber;
60. rotary flange.
The specific embodiment
For making those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Fig. 1-5, this enforcement provides a kind of wrist of robot.
As shown in Figure 1, the wrist of this robot comprises that inside is provided with the wrist body 10 of the first gear unit, and a side of wrist body 10 is provided with the first deceleration unit 20, and opposite side is provided with the second gear unit 30, wherein, the first gear unit respectively with the first deceleration unit 20 be connected gear unit 30 and be connected;
The side that the first gear unit is relative is provided with the second deceleration unit 40, the second deceleration unit 40 and is connected with the second gear unit 30;
The first deceleration unit 20 and the second deceleration unit 40 are arranged on connector 50, and the second gear unit 30 is rotatably connected on connector 50.
Preferably, the output of the second deceleration unit 40 connects a rotary flange 60, and connector 50 is fixedly connected with wrist body 10.
Particularly, as shown in Figure 2, inside at wrist, the first gear unit comprises the first travelling gear 11, the second travelling gear 12, wherein, the first travelling gear 11 is in the input engagement of a side and the first deceleration unit 20, and the second travelling gear 12 is in the input engagement of opposite side by the second gear unit 30 and the second deceleration unit 40, and the output of the first deceleration unit 20 is fixedly connected with connector 50.
The second deceleration unit 40 is arranged on connector 50 rotationally, for example, in perforate on connector 50, the second deceleration unit 40 is worn and is arranged on connector 50; The output of the second deceleration unit 40 is connected with rotary flange 60 on being arranged on connector 50; Preferably, the second deceleration unit 40 is mutually vertical in same level with the extended line of the axis of the first deceleration unit 20.
The second gear unit 30 is the two-stage transmission mechanism, this secondary drive mechanism is arranged on a side of connector 50, specifically be positioned at the relative side of the first deceleration unit 20, comprise two power transmission shafts that be arranged in parallel 31 (a), 31 (b), the two ends of power transmission shaft 31 (a), 31 (b) arrange respectively gear wheel 32 (a), 32 (b) and pinion 33 (a), 33 (b), wherein, gear wheel 32 is intermeshing, pinion 33 respectively with the engagement of the input of the second travelling gear 12, the second deceleration unit 40.The effect of the second gear unit 30 is passed to the second deceleration unit 40 with power from the second travelling gear 12 exactly, thereby driven rotary flange 60 rotates, for it provides the moment of torsion of rotation.Preferably, the extended line of the axis of the second gear unit 30 and the first deceleration unit 20 is parallel lines.
Above-mentioned wrist can be realized the motion two frees degree, and the first travelling gear 11 that is specially wrist body 10 inside transfers a torque to connector 50 by the first deceleration unit 20, makes it axially do reciprocally swinging back and forth along wrist body 10.Simultaneously, the second travelling gear 12 transfers a torque to rotary flange 60 by the second gear unit 30, the second deceleration unit 40, make rotary flange 60 radially rotating along wrist body 10 on connector 50, guaranteed the motion of two frees degree of robot wrist, mutually noninterfere, be independent of each other, and package unit is simple in structure, assembles easy, stable.
Preferably, wrist body 10 is the threeway tubulose, driver element 13 is set in its central nozzle, provide power by driver element 13 for the first travelling gear 11, the second travelling gear 12, the mouth of pipe place of its both sides is the junction of the first travelling gear 11, the second travelling gear 12 and the first deceleration unit 20 and the second gear unit 30, also provides for them the space that holds.
Preferably, as shown in Figure 3, connector 50 is indentations, the both sides of connector 50 are fixedly connected with, rotatably are connected with the second gear unit 30 with first deceleration unit 20 at the mouth of pipe place, both sides of wrist body 10 respectively, the front end-plate face of connector 50 arranges the second deceleration unit 40 and rotary flange 60, the front end-plate face of connector 50 and the junction of side plate face are provided with cavity 504, and this cavity 504 is the junction of the second gear unit 30 and the second deceleration unit 40, for they provide the space that holds.
The inboard of the side plate face of connector 50 is provided with hole slot 501, this hole slot 501 is used for connecting the output shaft of the first deceleration unit 20, the opposite side of connector 50 comprises chamber 503, have two through holes 502 (a) and 502 (b) on the bottom surface of chamber 503, be respectively used to hold power transmission shaft 31 (a) and 31 (b), the periphery of through hole 502 (a), 502 (b) arranges gear wheel 32 (a), 32 (b), chamber 503 can hold gear wheel 32, thereby does not affect the engagement between gear wheel 32.Connector 50 is to be set on power transmission shaft 31 (a), and like this, in the process that connector 50 swings, power transmission shaft 31 (a) is not along with connector 50 swings.And power transmission shaft 31 (b) swings along with connector 50, because the second deceleration unit 40 is arranged on connector 50, therefore also along with connector 50 swings together.So just can guarantee that in connector 50 swing process, the rotation of the rotary flange 60 on the second deceleration unit 40 is unaffected, two kinds of motion mutually noninterferes are independent of each other, both can move simultaneously, but also independently moving.
As shown in Figure 4, the first travelling gear 11, the second travelling gear 12 are arranged at the first power transmission shaft 14 of driver element 13, an end of second driving shaft 15, second driving shaft 15 is arranged in the inside of the first power transmission shaft 14, and the other end of the first power transmission shaft 14, second driving shaft 15 arranges respectively perforation 141,151.
As shown in Figure 5, the macro-axis 131 that wears inside and outside driver element 13 comprises, little axle 132, one end of this macro-axis 131, little axle 132 is the grinding tooth shape and is connected with perforation 141,151 respectively, the other end all arranges spur gear 133,134, spur gear 133,134 separately with spur gear 135,136 engagements of the output of servomotor 137.Like this, two servomotors 135 can be respectively by large 131, little axle 132, the first power transmission shafts 14, second driving shaft 15 with transmission of power to the first travelling gear 11, the second travelling gear 12.
Be understandable that, above embodiment is only the illustrative embodiments that adopts for principle of the present invention is described, yet the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement also are considered as protection scope of the present invention.
Claims (9)
1. the wrist of a robot, it is characterized in that, comprise: inside is provided with the wrist body of the first gear unit, one side of described wrist body is provided with the first deceleration unit, opposite side is provided with the second gear unit, wherein, described the first gear unit respectively with described the first deceleration unit be connected the second gear unit and be connected;
The side that described the first gear unit is relative is provided with the second deceleration unit, and described the second deceleration unit is connected with described the second gear unit;
Described the first deceleration unit and described the second deceleration unit are arranged on connector, and described the second gear unit is rotatably connected on connector.
2. the wrist of robot as claimed in claim 1, is characterized in that, the second driving cog that the output of described the first gear unit wears inside and outside being and the first driving cog, and respectively with the engagement of the input of the second gear unit and the first deceleration unit.
3. the wrist of robot as claimed in claim 1, is characterized in that, the input of described the first gear unit is connected with the output of the driver element that power is provided.
4. the wrist of robot as claimed in claim 1, is characterized in that, described the second gear unit comprises:
Two power transmission shafts that be arranged in parallel, the two ends of power transmission shaft arrange respectively gear wheel and pinion, described gear wheel is intermeshing, described pinion respectively with the engagement of the input of the second travelling gear, the second deceleration unit;
Described connector is set on the power transmission shaft that meshes with the second travelling gear.
5. the wrist of robot as claimed in claim 1, is characterized in that, the output of described the second deceleration unit is connected with rotary flange.
6. the wrist of robot as claimed in claim 1, is characterized in that, the extended line of described the second deceleration unit and the axis of described the first deceleration unit is in same level and mutually vertical.
7. the wrist of robot as claimed in claim 1, is characterized in that, the extended line of the axis of described the second gear unit and described the first deceleration unit is parallel lines.
8. the wrist of robot as claimed in claim 1, is characterized in that, described connector has the cavity that holds the second gear unit and the second deceleration unit.
9. the wrist of robot as claimed in claim 1, is characterized in that, the output of described the first deceleration unit is fixedly connected with connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100604223A CN103101052A (en) | 2013-02-26 | 2013-02-26 | Wrist of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100604223A CN103101052A (en) | 2013-02-26 | 2013-02-26 | Wrist of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103101052A true CN103101052A (en) | 2013-05-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100604223A Pending CN103101052A (en) | 2013-02-26 | 2013-02-26 | Wrist of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103101052A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN104875215A (en) * | 2015-05-15 | 2015-09-02 | 上海交通大学 | Two-degree-of-freedom wrist simulating device |
| CN111631846A (en) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | Two-degree-of-freedom artificial limb wrist |
| CN112315584A (en) * | 2020-11-19 | 2021-02-05 | 锐志微创医疗科技（常州）有限公司 | Operation robot terminal pitching device and operation robot terminal |
| CN112402016A (en) * | 2020-11-19 | 2021-02-26 | 锐志微创医疗科技（常州）有限公司 | Terminal rotation device of surgical robot and terminal of surgical robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1052180C (en) * | 1996-04-09 | 2000-05-10 | 株式会社安川电机 | Wrist mechanism for an industrial robot |
| CN102233585A (en) * | 2010-04-29 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Arm member of robot |
| CN102267134A (en) * | 2011-07-12 | 2011-12-07 | 浙江万丰摩轮有限公司 | Multifunctional universal robot |
-
2013
- 2013-02-26 CN CN2013100604223A patent/CN103101052A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1052180C (en) * | 1996-04-09 | 2000-05-10 | 株式会社安川电机 | Wrist mechanism for an industrial robot |
| JP3329430B2 (en) * | 1996-04-09 | 2002-09-30 | 株式会社安川電機 | Industrial robot wrist mechanism |
| CN102233585A (en) * | 2010-04-29 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Arm member of robot |
| CN102267134A (en) * | 2011-07-12 | 2011-12-07 | 浙江万丰摩轮有限公司 | Multifunctional universal robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN104875215A (en) * | 2015-05-15 | 2015-09-02 | 上海交通大学 | Two-degree-of-freedom wrist simulating device |
| CN111631846A (en) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | Two-degree-of-freedom artificial limb wrist |
| CN112315584A (en) * | 2020-11-19 | 2021-02-05 | 锐志微创医疗科技（常州）有限公司 | Operation robot terminal pitching device and operation robot terminal |
| CN112402016A (en) * | 2020-11-19 | 2021-02-26 | 锐志微创医疗科技（常州）有限公司 | Terminal rotation device of surgical robot and terminal of surgical robot |
| CN112402016B (en) * | 2020-11-19 | 2024-04-05 | 锐志微创医疗科技（常州）有限公司 | Surgical robot terminal autorotation device and surgical robot terminal |
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Application publication date: 20130515 |
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| RJ01 | Rejection of invention patent application after publication |