CN103921284A - Robot wrist driving mechanism - Google Patents

Robot wrist driving mechanism Download PDF

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Publication number
CN103921284A
CN103921284A CN201410183776.1A CN201410183776A CN103921284A CN 103921284 A CN103921284 A CN 103921284A CN 201410183776 A CN201410183776 A CN 201410183776A CN 103921284 A CN103921284 A CN 103921284A
Authority
CN
China
Prior art keywords
deceleration unit
generator
motor
housing
gear
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.)
Pending
Application number
CN201410183776.1A
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Chinese (zh)
Inventor
袁安富
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Information Science and Technology
Original Assignee
Nanjing University of Information Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanjing University of Information Science and Technology filed Critical Nanjing University of Information Science and Technology
Priority to CN201410183776.1A priority Critical patent/CN103921284A/en
Publication of CN103921284A publication Critical patent/CN103921284A/en
Pending legal-status Critical Current

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Abstract

The invention relates to the field of robots, in particular to a robot wrist driving mechanism. The robot wrist driving mechanism particularly comprises a load plate, a shell, a first speed reducing unit and a second speed reducing unit, wherein the load plate is in drive connection with the outside. The load plate is rotationally arranged on the shell, both the first speed reducing unit and the second speed reducing unit are arranged in the shell, the output part of the first speed reducing unit is in drive connection with the load plate, and the output part of the second speed reducing unit is fixedly connected with the shell. Two harmonic gear reducers are used for respectively driving two-freedom-degree motion of the wrist of a robot, and the robot wrist driving mechanism is small and compact in structure and high in drive stability.

Description

A kind of robot wrist driving mechanism
Technical field
The present invention relates to robot field, is especially a kind of robot wrist driving mechanism.
Background technology
Industrial robot is used to more be widely used in each field in current manufacturing industry, in industrial robot, a very important index is executed in the design of wrist, it had both been required to meet the serviceability requirement of robot, wish again can be small and exquisite simultaneously, therefore for the design of robot wrist, be always taking compact conformation as principle.Existing robot wrist action realizes by comparatively complicated transmission mechanism conventionally, and reliability is lower.
Summary of the invention
The object of the invention is to provide a kind of structure compact, the higher robot wrist driving mechanism of reliable transmission, is specifically realized by following technical scheme:
A kind of robot wrist driving mechanism, specifically comprise the load board, housing, the first deceleration unit, the second deceleration unit that are in transmission connection with outside, described this load board is arranged on housing rotationally, described the first deceleration unit, the second deceleration unit are all arranged in housing, wherein the output of the first deceleration unit and described load board are in transmission connection, and the output of described the second deceleration unit is fixedly connected with described housing.
Described robot wrist driving mechanism, it further designs and is, and described the first deceleration unit, the second deceleration unit are harmonic gear reducer.
Described robot wrist driving mechanism, it further designs and is, described harmonic gear reducer comprises and is fixedly installed on the firm wheel in housing with ring gear, there is flexbile gear and the generator of external toothing, described generator middle part is oval cylinder for section, described flexbile gear is sheathed on generator middle part, the external tooth that flexbile gear is corresponding with the major axis two ends of described ellipse engages with the ring gear of just taking turns, along with the rotation of generator, the ring gear along firm wheel rotates described meshing point, generator is as the importation of harmonic gear reducer, described flexbile gear is as the output of harmonic gear reducer, the generator of described the first deceleration unit rotates load board is rotated along with the rotation of the flexbile gear of the first deceleration unit.
Described robot wrist driving mechanism, it further designs and is, also comprise a pair of gripper shoe, the first motor and the second motor, described a pair of gripper shoe lays respectively at the both sides external of housing, described the first motor, the second motor are fixedly installed on respectively in gripper shoe, and described the first motor, the second motor are connected with the generator of described the first deceleration unit, the second deceleration unit respectively.
Described robot wrist driving mechanism, it further designs and is, and described the first motor is connected with the generator of the first deceleration unit by a power shaft and a pair of bevel gear, makes generator and the orthogonal setting of described power shaft of the first deceleration unit; Generator and the power shaft of described the second deceleration unit coaxially arrange.
The present invention drives the motion of two of robot wrist frees degree respectively by two harmonic gear reducers, structure compact, and transmission stability is higher.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Wherein, 1-housing, 2-load board, 3-the first deceleration unit, 4-the second deceleration unit, 5-power shaft, 6-the first motor, 7-the second motor, 32-the first flexbile gear, 33-the first generator, 42-the second flexbile gear, 43-the second generator, 51-bevel gear, 8-gripper shoe.
Detailed description of the invention
Below in conjunction with Figure of description and embodiment, the present invention is further described.
In conjunction with Fig. 1, this robot wrist driving mechanism specifically comprises the load board 2, housing 1, the first deceleration unit 3, the second deceleration unit 4 that are in transmission connection with outside, this load board 2 is arranged on housing 1 rotationally, the first deceleration unit 3, the second deceleration unit 4 are all arranged in housing 1, wherein the output of the first deceleration unit 3 and load board 2 are in transmission connection, and the output of the second deceleration unit 4 is fixedly connected with housing 1.
Need for the design to compared with high transmission ratio, space structure is comparatively compact in addition, and in the present embodiment, the first deceleration unit 3, the second deceleration unit 4 are harmonic gear reducer.
Harmonic gear reducer comprises and is fixedly installed on the firm wheel in housing with ring gear, the flexbile gear with external toothing and generator, generator middle part is oval cylinder for section, flexbile gear is sheathed on generator middle part, the external tooth that flexbile gear is corresponding with oval major axis two ends engages with the ring gear of just taking turns, along with the rotation of generator, the ring gear along firm wheel rotates meshing point, generator is as the importation of harmonic gear reducer, and flexbile gear is as the output of harmonic gear reducer; The first generator 33 of the first deceleration unit 3 rotates load board 2 is rotated along with the rotation of the first flexbile gear 32 of the first deceleration unit 3.
In order to make transmission direction meet the requirement of robot wrist action, the present embodiment also comprises power shaft 5, the first motor 6, the second motor 7 and a pair of gripper shoe 8, gripper shoe is symmetrical arranged the both sides with hull outside, and the first motor 6, the second motor 7 are fixedly installed on respectively in two gripper shoes 8; Power shaft 5 is arranged on housing 1 rotationally, and the first motor 6 is connected with the first generator 33 of the first deceleration unit 3 by power shaft 5; The second motor 7 is connected with the second generator 43 of the second deceleration unit 4, and the second flexbile gear 42 of the second deceleration unit is fixedly connected with housing 1, and whole housing is rotated along with the rotation of the second motor 7.
The second generator 43 of power shaft 5 and the second deceleration unit coaxially arranges, the generator of power shaft and the first deceleration unit is connected to each other by one group of bevel gear 51, makes the first generator of the first deceleration unit perpendicular to the second generator of power shaft and the second deceleration unit.
The present embodiment, in the time of operation, is fixedly connected with robot miscellaneous part by two gripper shoes, and when the second electric machine rotation, whole housing is along with the rotation of the second motor is rotated with respect to mechanical arm; When the first electric machine rotation, load board is rotated with respect to housing; The present invention drives the motion of two of robot wrist frees degree respectively by two harmonic gear reducers, structure compact, and transmission stability is higher.

Claims (5)

1. a robot wrist driving mechanism, it is characterized in that comprising the load board, housing, the first deceleration unit, the second deceleration unit that are in transmission connection with outside, described this load board is arranged on housing rotationally, described the first deceleration unit, the second deceleration unit are all arranged in housing, wherein the output of the first deceleration unit and described load board are in transmission connection, and the output of described the second deceleration unit is fixedly connected with described housing.
2. robot wrist driving mechanism according to claim 1, is characterized in that, described the first deceleration unit, the second deceleration unit are harmonic gear reducer.
3. robot wrist driving mechanism according to claim 2, it is characterized in that, described harmonic gear reducer comprises and is fixedly installed on the firm wheel in housing with ring gear, there is flexbile gear and the generator of external toothing, described generator middle part is oval cylinder for section, described flexbile gear is sheathed on generator middle part, the external tooth that flexbile gear is corresponding with the major axis two ends of described ellipse engages with the ring gear of just taking turns, along with the rotation of generator, the ring gear along firm wheel rotates described meshing point, generator is as the importation of harmonic gear reducer, described flexbile gear is as the output of harmonic gear reducer, the generator of described the first deceleration unit rotates load board is rotated along with the rotation of the flexbile gear of the first deceleration unit.
4. robot wrist driving mechanism according to claim 3, characterized by further comprising a pair of gripper shoe, the first motor and the second motor, described a pair of gripper shoe lays respectively at the both sides external of housing, described the first motor, the second motor are fixedly installed on respectively in gripper shoe, and described the first motor, the second motor are connected with the generator of described the first deceleration unit, the second deceleration unit respectively.
5. robot wrist driving mechanism according to claim 4, it is characterized in that, described the first motor is connected with the generator of the first deceleration unit by a power shaft and a pair of bevel gear, makes generator and the orthogonal setting of described power shaft of the first deceleration unit; Generator and the power shaft of described the second deceleration unit coaxially arrange.
CN201410183776.1A 2014-05-04 2014-05-04 Robot wrist driving mechanism Pending CN103921284A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410183776.1A CN103921284A (en) 2014-05-04 2014-05-04 Robot wrist driving mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410183776.1A CN103921284A (en) 2014-05-04 2014-05-04 Robot wrist driving mechanism

Publications (1)

Publication Number Publication Date
CN103921284A true CN103921284A (en) 2014-07-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410183776.1A Pending CN103921284A (en) 2014-05-04 2014-05-04 Robot wrist driving mechanism

Country Status (1)

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CN (1) CN103921284A (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0251643A (en) * 1988-08-10 1990-02-21 Yanmar Diesel Engine Co Ltd Planetary gear type advancing second gear speed reducing reverser
CN2877987Y (en) * 2006-03-31 2007-03-14 中国科学院沈阳自动化研究所 Rotation joint structure for underwater electric manipulator
CN101112760A (en) * 2007-08-29 2008-01-30 哈尔滨工业大学 Spacing mechanical arm modularization joint
CN101585190A (en) * 2009-06-24 2009-11-25 北京理工大学 Robot articulation and aided design method and apparatus thereof
CN101596717A (en) * 2009-06-25 2009-12-09 浙江工业大学 Compact type intelligent switch joint
JP2009291874A (en) * 2008-06-04 2009-12-17 Kansai Electric Power Co Inc:The Joint device, robot arm, and finger unit
CN202029133U (en) * 2011-04-15 2011-11-09 成都佳士科技有限公司 Pivoted arm structure of 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
CN103029125A (en) * 2011-09-30 2013-04-10 鸿富锦精密工业(深圳)有限公司 Robot
CN203831415U (en) * 2014-05-04 2014-09-17 南京信息工程大学 Robot wrist driving mechanism

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0251643A (en) * 1988-08-10 1990-02-21 Yanmar Diesel Engine Co Ltd Planetary gear type advancing second gear speed reducing reverser
CN2877987Y (en) * 2006-03-31 2007-03-14 中国科学院沈阳自动化研究所 Rotation joint structure for underwater electric manipulator
CN101112760A (en) * 2007-08-29 2008-01-30 哈尔滨工业大学 Spacing mechanical arm modularization joint
JP2009291874A (en) * 2008-06-04 2009-12-17 Kansai Electric Power Co Inc:The Joint device, robot arm, and finger unit
CN101585190A (en) * 2009-06-24 2009-11-25 北京理工大学 Robot articulation and aided design method and apparatus thereof
CN101596717A (en) * 2009-06-25 2009-12-09 浙江工业大学 Compact type intelligent switch joint
CN202029133U (en) * 2011-04-15 2011-11-09 成都佳士科技有限公司 Pivoted arm structure of 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
CN103029125A (en) * 2011-09-30 2013-04-10 鸿富锦精密工业(深圳)有限公司 Robot
CN203831415U (en) * 2014-05-04 2014-09-17 南京信息工程大学 Robot wrist driving mechanism

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Application publication date: 20140716