CN103158159A - Wrist of two-degree-of-freedom robot - Google Patents
Wrist of two-degree-of-freedom robot Download PDFInfo
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- CN103158159A CN103158159A CN2013100861383A CN201310086138A CN103158159A CN 103158159 A CN103158159 A CN 103158159A CN 2013100861383 A CN2013100861383 A CN 2013100861383A CN 201310086138 A CN201310086138 A CN 201310086138A CN 103158159 A CN103158159 A CN 103158159A
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- power input
- input shaft
- pitching
- wrist
- shaft
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Abstract
The invention discloses a wrist of a two-degree-of-freedom robot. The wrist of the two-degree-of-freedom robot comprises a self-rotating drive mechanism and a pitching drive mechanism, wherein the self-rotating drive mechanism comprises a motor, a power input shaft, a cone-shaped gear set, a self-rotating gear shaft and an arm installment base. One end of the power input shaft is connected with one end of the self-rotating gear shaft through the cone-shaped gear set, the other end of the power input shaft is connected with the motor in an external mode, the other end of the self-rotating gear shaft is connected with the pitching drive mechanism, and the power input shaft is perpendicularly arranged with the self-rotating gear shaft. The pitching drive mechanism comprises a stepping motor, a power input shaft, a pitching gear set and a wrist end effecter, wherein one end of the power input shaft is connected with a pitching gear, the other end of the power input shaft is connected with the motor, another pitching gear is installed at one end of a driven shaft of the pitching gear set, a wrist end actuator is installed on the driven shaft of the pitching gear set, and the power input shaft is perpendicular to the axial direction of a wrist base body. The wrist of the two-degree-of-freedom robot achieves two-degree-of-freedom independent motions, ensures that rotating angles randomly change and are not mutually disturbed, is simple in structure, and facilitates operational smoothness of the robot.
Description
Technical field
The invention belongs to electromechanical integration technology area, particularly a kind of two degrees of freedom robot wrist, be applicable to motion control field and Related product.
Background technology
Manipulator is the industrial robot that occurs the earliest; also the modern machines people who occurs the earliest; it can replace people's mechanization and the automation of heavy work to realize producing; can operate under hostile environment with the protection personal safety, manipulator can the economization workman, raise the efficiency, reduce costs, improve product quality, security is good, promote factory's image.The robot wrist is the parts that connect end-effector and arm, and its effect is the orientation of regulating or change workpiece, thereby it has the independently free degree, so that tail end manipulator of robot adapts to complicated action request.The free degree of wrist requires to determine according to the service behaviour of actual use.
Summary of the invention
The object of the invention, be to provide a kind of two degrees of freedom robot wrist, this machine human wrist arranges rotation driving mechanism and pitching driving mechanism respectively, realize the self-movement of two frees degree, each free degree slewing area is large, do not interfere with each other, it is simple in structure simultaneously, is conducive to forearm balance and robot traveling comfort.
The technical scheme that adopts is:
The wrist of a kind of two degrees of freedom robot, comprise rotation driving mechanism and pitching driving mechanism, the rotation driving mechanism comprises motor, power input shaft, conical tooth wheels, rotating gear axle and arm mount pad, power input shaft one end is connected by the conical tooth wheels with rotating gear axle one end, the external motor of the power input shaft other end, the rotating gear axle other end is connected with the pitching driving mechanism, power input shaft arranges with the rotating gear axle is vertical, on the axis direction of power input shaft perpendicular to the wrist matrix; The pitching driving mechanism comprises stepper motor, power input shaft, pitching gear train, wrist end effector, power input shaft one termination pitching gear, the other end is connected with motor, another pitching gear is arranged on an end of pitching gear train driven shaft, keep the pitching gear train to be meshed, the wrist end effector mechanism is arranged on pitching gear train driven shaft, on the axial direction of power input shaft perpendicular to the wrist matrix, and the dead in line of the center of wrist end effector mechanism and rotating gear axle.
Advantage and effect: this machine human wrist arranges rotation driving mechanism and pitching driving mechanism respectively, realizes the self-movement of two frees degree, and rotational angle is any, does not interfere with each other, and it is simple in structure simultaneously, is conducive to the robot traveling comfort.
Description of drawings
Fig. 1 is structural representation of the present invention.
The specific embodiment
The wrist of a kind of two degrees of freedom robot, comprise rotation driving mechanism and pitching driving mechanism, the rotation driving mechanism comprises motor 1, power input shaft 2, conical tooth wheels 3, rotating gear axle 4 and arm mount pad 5, power input shaft 2 one ends are connected by conical tooth wheels 3 with rotating gear axle 4 one ends, the power input shaft 2 external motors 1 of the other end, rotating gear axle 4 one ends are connected with conical tooth wheels 3, the other end is connected with the pitching driving mechanism, power input shaft 2 setting vertical with rotating gear axle 4 is on the axis direction of power input shaft 2 perpendicular to the wrist matrix; The dead in line of the center of wrist end effector mechanism and rotating gear axle.When motor 1 rotates, by power input shaft 2 with power transmission to conical tooth wheels 3, with this, rotating gear axle is rotated, because an end and the luffing mechanism of power input shaft 2 fixes, so motor 1 when rotating directly the drive luffing mechanism rotate.
The pitching driving mechanism comprises stepper motor 6, power input shaft 7, pitching gear train 8, wrist end effector 9 and pitching gear train driven shaft 10, one connects the pitching gear and is arranged on power input shaft 7, power input shaft 7 directly is connected with motor 1, another pitching gear is arranged on an end of pitching gear train driven shaft 10, keep the pitching gear train to be meshed, wrist end effector mechanism 9 is arranged on pitching gear train driven shaft 10, on the axial direction of power input shaft 7 perpendicular to the wrist matrix.Motor 1 rotates by power input shaft 7 and drives 8 rotations of pitching gear train, makes wrist end effector mechanism 9 at a large scope intrinsic deflection with this.
Claims (1)
1. the wrist of a two degrees of freedom robot, comprise rotation driving mechanism and pitching driving mechanism, it is characterized in that described rotation driving mechanism, comprise motor, power input shaft, conical tooth wheels, rotating gear axle and arm mount pad, power input shaft one end is connected by the conical tooth wheels with rotating gear axle one end, the external motor of the power input shaft other end, the rotating gear axle other end is connected with the pitching driving mechanism, power input shaft arranges with the rotating gear axle is vertical, on the axis direction of power input shaft perpendicular to the wrist matrix; Described pitching driving mechanism comprises stepper motor, power input shaft, pitching gear train, wrist end effector, power input shaft one termination pitching gear, the other end is connected with motor, another pitching gear is arranged on an end of pitching gear train driven shaft, keep the pitching gear train to be meshed, the wrist end effector mechanism is arranged on pitching gear train driven shaft, on the axial direction of power input shaft perpendicular to the wrist matrix, the dead in line of the center of wrist end effector mechanism and rotating gear axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100861383A CN103158159A (en) | 2013-03-19 | 2013-03-19 | Wrist of two-degree-of-freedom robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100861383A CN103158159A (en) | 2013-03-19 | 2013-03-19 | Wrist of two-degree-of-freedom robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103158159A true CN103158159A (en) | 2013-06-19 |
Family
ID=48581957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100861383A Pending CN103158159A (en) | 2013-03-19 | 2013-03-19 | Wrist of two-degree-of-freedom robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103158159A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238866A (en) * | 2019-07-22 | 2019-09-17 | 北京工业大学 | A kind of rubber tapping robot flexible mechanical arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0122295A1 (en) * | 1982-10-20 | 1984-10-24 | Fanuc Ltd. | Wrist mechanism for industrial robot |
| US4976165A (en) * | 1989-07-14 | 1990-12-11 | Kabushiki Kaisha Kobe Seiko Sho | Backlash removing mechanism for industrial robot |
| JPH05318374A (en) * | 1991-03-28 | 1993-12-03 | Kobe Steel Ltd | Wrist structure of industrial robot |
| JPH08276387A (en) * | 1995-04-05 | 1996-10-22 | Yaskawa Electric Corp | Direct teaching handle |
| EP1352720A1 (en) * | 2002-04-11 | 2003-10-15 | Fanuc Ltd | Wrist driving mechanism for robot |
| CN102284959A (en) * | 2011-07-28 | 2011-12-21 | 广州数控设备有限公司 | Wrist for two-degree-of-freedom industrial robot |
-
2013
- 2013-03-19 CN CN2013100861383A patent/CN103158159A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0122295A1 (en) * | 1982-10-20 | 1984-10-24 | Fanuc Ltd. | Wrist mechanism for industrial robot |
| US4976165A (en) * | 1989-07-14 | 1990-12-11 | Kabushiki Kaisha Kobe Seiko Sho | Backlash removing mechanism for industrial robot |
| JPH05318374A (en) * | 1991-03-28 | 1993-12-03 | Kobe Steel Ltd | Wrist structure of industrial robot |
| JPH08276387A (en) * | 1995-04-05 | 1996-10-22 | Yaskawa Electric Corp | Direct teaching handle |
| EP1352720A1 (en) * | 2002-04-11 | 2003-10-15 | Fanuc Ltd | Wrist driving mechanism for robot |
| CN102284959A (en) * | 2011-07-28 | 2011-12-21 | 广州数控设备有限公司 | Wrist for two-degree-of-freedom industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238866A (en) * | 2019-07-22 | 2019-09-17 | 北京工业大学 | A kind of rubber tapping robot flexible mechanical arm |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130619 |