CN103707318A - Wrist of electric manipulator - Google Patents
Wrist of electric manipulator Download PDFInfo
- Publication number
- CN103707318A CN103707318A CN201310632407.1A CN201310632407A CN103707318A CN 103707318 A CN103707318 A CN 103707318A CN 201310632407 A CN201310632407 A CN 201310632407A CN 103707318 A CN103707318 A CN 103707318A
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- CN
- China
- Prior art keywords
- wrist
- motor
- manipulator
- electric manipulator
- gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The invention relates to a wrist of an electric manipulator and belongs to the technical field of manipulators. A wrist motor drives a shift fork to rotate to further drive a gripper component of the electric manipulator to rotate, and the wrist structure is compact since the shift fork and a gripper motor are connected integrally. Wire twisting caused during rotation of the gripper component of the electric manipulator is overcome by the aid of a conducting ring. As the rotation origin of the gripper component of the electric manipulator is positioned through a conducting strip, the problem about determining the position of the gripper origin is solved. The radial size of the wrist of the electric manipulator is reduced by means of a roller bearing. The internal space of a gripper sleeve is utilized reasonably as the motor is assembled inside the gripper sleeve through a detachable motor fixing block. The wrist of the electric manipulator is light, convenient, compact and attractive, simple in structure, convenient to assemble, low in manufacturing cost and the like.
Description
Technical field:
The present invention relates to a kind of electric manipulator wrist, belong to manipulator technical field.
Background technology:
Along with the development of Robotics, the continuous expansion of industrial robot application,, in the enterprise producing in enormous quantities, is exactly not only in the enterprise of the many variety production of small lot, and industrial robot is also just being exhibited one's skill to the full becomes the effective means of automated production.And existing electronic, hydraulic pressure, pneumatic mechanical arm wrist complex structure, volume is large, processing and manufacturing difficulty is large, install adjust inconvenient, manufacturing cost is high, so application scenario is very limited.
Summary of the invention:
In order to solve complex structure in prior art scheme, volume is large, processing and manufacturing difficulty is large, install and adjust inconvenience, the problem that manufacturing cost is high, the technical solution adopted in the present invention is: a kind of electric manipulator wrist, it is characterized in that by wrist urceolus, anodal conducting ring, negative pole conducting ring, origin position conducting strip, drawn cup needle roller bearing, shift fork, shift fork holding screw, motor fixed block, fixed block holding screw, wrist motor, spring collar, entrance hole and manipulator paw parts form, wherein manipulator paw parts comprise paw and gripper motor, wrist motor is fixed on the motor fixed block of wrist urceolus inside, shift fork is fixed on the output shaft of wrist motor, match in the rear portion of shift fork and gripper motor, it is inner that drawn cup needle roller bearing is assemblied in wrist urceolus.
The present invention utilizes the rotation of wrist driven by motor shift fork, and shift fork is connected with paw parts, thereby driving mechanical hand paw parts rotate, and makes wrist structure become compact; Utilize both positive and negative polarity conducting ring to solve the wire producing when manipulator paw parts rotate and be wound around problem; Origin position conducting strip is set the revolution initial point of manipulator paw parts is positioned, solved the problem of definite paw parts origin position; Adopt drawn cup needle roller bearing to reduce the radial dimension of mechanical arm wrist; Utilize detachable motor fixed block motor can be fixed on to wrist urceolus inner, solved the technological problems of the processing of wrist urceolus and motor assembling, take full advantage of the inner space of wrist urceolus.The features such as that this electric manipulator wrist has is simple in structure, light, compact, attractive in appearance, easy to assembly, low cost of manufacture.
Accompanying drawing explanation
Fig. 1: electric manipulator wrist structural representation
In figure, structure consists of: 1. wrist urceolus, 2. drawn cup needle roller bearing, 3. shift fork, 4. shift fork holding screw, 5. fixed block holding screw, 6. wrist motor, 7. entrance hole, 8. motor fixed block, 9. anodal conducting ring, 10. negative pole conducting ring, 11. origin position conducting strips, 12. gripper motors, 13. spring collars, 14. manipulator paws
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is further described.
In Fig. 1, fixed block holding screw (5) is fixed on wrist motor (6) on the inner motor fixed block (8) of wrist urceolus (1); Shift fork holding screw (4) is fixed on shift fork (3) on the output shaft of wrist motor (12); Match and carry out moment of torsion transmission in the rear portion of shift fork (3) and gripper motor (12); Drawn cup needle roller bearing (2) is assemblied in wrist urceolus (1) inside; The axially-movable of spring collar (13) restriction drawn cup needle roller bearing (2); The both positive and negative polarity conductive reed of gripper motor (12) remains and contacts with positive and negative electrode conducting ring (9,10) on wrist urceolus (1); Wire enters into wrist urceolus (1) inside through entrance hole (7), the positive and negative electrode conducting ring (9,10) and the origin position conducting strip (11) that are connected on wrist motor (6), wrist urceolus (1) are upper, utilize conducting strip (11) to send the revolution location that origin position signal carries out paw parts.
Claims (1)
1. the present invention relates to a kind of electric manipulator wrist, belong to manipulator technical field.The present invention utilizes the rotation of wrist driven by motor shift fork, and shift fork is connected with paw parts, thereby driving mechanical hand paw parts rotate, and makes wrist structure become compact; Utilize both positive and negative polarity conducting ring to solve the wire producing when manipulator paw parts rotate and be wound around problem; Origin position conducting strip is set the revolution initial point of manipulator paw parts is positioned, solved the problem of definite paw parts origin position; Adopt drawn cup needle roller bearing to reduce the radial dimension of mechanical arm wrist; Utilize detachable motor fixed block motor can be fixed on to wrist urceolus inner, solved the technological problems of the processing of wrist urceolus and motor assembling, take full advantage of the inner space of wrist urceolus.The features such as that this electric manipulator wrist has is simple in structure, light, compact, attractive in appearance, easy to assembly, low cost of manufacture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310632407.1A CN103707318A (en) | 2013-12-03 | 2013-12-03 | Wrist of electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310632407.1A CN103707318A (en) | 2013-12-03 | 2013-12-03 | Wrist of electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103707318A true CN103707318A (en) | 2014-04-09 |
Family
ID=50400852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310632407.1A Pending CN103707318A (en) | 2013-12-03 | 2013-12-03 | Wrist of electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103707318A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05245789A (en) * | 1992-03-02 | 1993-09-24 | Matsushita Electric Ind Co Ltd | Cable handler of industrial robot |
| JPH08197480A (en) * | 1995-01-31 | 1996-08-06 | Toshiba Corp | Wrist mechanism for industrial robot |
| CN1990198A (en) * | 2005-12-27 | 2007-07-04 | 中国科学院沈阳自动化研究所 | Underwater mechanical arm wrist portion structure for high strength operation underwater robot |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN201093412Y (en) * | 2007-10-29 | 2008-07-30 | 杨霞欢 | Lamp holder device capable of rotating 360 DEG |
| CN202129798U (en) * | 2011-05-17 | 2012-02-01 | 哈尔滨工程大学 | Two-stage rotary mechanism for small electric manipulator |
| CN103231386A (en) * | 2013-04-07 | 2013-08-07 | 河北工业大学 | Reconfigurable underwater robot mechanical arm |
-
2013
- 2013-12-03 CN CN201310632407.1A patent/CN103707318A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05245789A (en) * | 1992-03-02 | 1993-09-24 | Matsushita Electric Ind Co Ltd | Cable handler of industrial robot |
| JPH08197480A (en) * | 1995-01-31 | 1996-08-06 | Toshiba Corp | Wrist mechanism for industrial robot |
| CN1990198A (en) * | 2005-12-27 | 2007-07-04 | 中国科学院沈阳自动化研究所 | Underwater mechanical arm wrist portion structure for high strength operation underwater robot |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN201093412Y (en) * | 2007-10-29 | 2008-07-30 | 杨霞欢 | Lamp holder device capable of rotating 360 DEG |
| CN202129798U (en) * | 2011-05-17 | 2012-02-01 | 哈尔滨工程大学 | Two-stage rotary mechanism for small electric manipulator |
| CN103231386A (en) * | 2013-04-07 | 2013-08-07 | 河北工业大学 | Reconfigurable underwater robot mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140409 |