CN104708636A - Offset structure wrist of industrial robot - Google Patents
Offset structure wrist of industrial robot Download PDFInfo
- Publication number
- CN104708636A CN104708636A CN201510098935.2A CN201510098935A CN104708636A CN 104708636 A CN104708636 A CN 104708636A CN 201510098935 A CN201510098935 A CN 201510098935A CN 104708636 A CN104708636 A CN 104708636A
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- CN
- China
- Prior art keywords
- wrist
- industrial robot
- reductor
- bias structure
- output pulley
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Abstract
The invention discloses an offset structure wrist of an industrial robot. The offset structure wrist comprises a connecting shell. One end of the connecting shell is connected with an industrial robot arm, the other end of the connecting shell is provided with a connecting flange, and the connecting flange is provided with a speed reducer I connected with a power mechanism I arranged in the connecting shell. The offset structure wrist further comprises a wrist body. One end of the wrist body is connected with the speed reducer I, the other end of the wrist body is provided with a speed reducer II, and the speed reducer II is connected with a power mechanism II arranged in the wrist body and the connecting shell. Through the reasonable structural design of the wrist, by the adoption of a single support structure, the motion space of the five-axis speed reducer is not limited. Then, the five axes of the industrial robot can freely rotate by 360 degrees, the tact time of procedures is shortened, work efficiency can be improved to a large degree, and production cost is saved.
Description
Technical field
The present invention relates to industrial robot field, be specifically related to a kind of industrial robot bias structure wrist.
Background technology
The performance of industrial robot body construction to robot plays a crucial role, for some special industries: as polishing, cutting, arc-welding etc., requires larger for robot wrist range of movement.As shown in figure 16, traditional industrial robot adopts the wrist part structure of dual-gripper, limits the actuating range of 5 axles to a great extent, makes the action originally only needing action 5 axle just can realize, must transfer could be realized by other axles of action; In actual production, add the pitch time of operation, high degree reduces production efficiency.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of 5 axle motion spaces unrestricted, the industrial robot bias structure wrist of enhancing productivity.
To achieve these goals, the technical solution used in the present invention is:
This industrial robot bias structure wrist, comprise connection housing, described connection shell one end is connected with industrial robot arm, and the described connection housing other end is provided with adpting flange, and described adpting flange is provided with and the reductor I being located at actuating unit I connection be connected in housing; Also comprise wrist body, described wrist body one end is connected with described reductor I, and the other end of described wrist body is provided with reductor II, described reductor II and actuating unit II connection be located in described wrist body and described connection housing.
Described actuating unit I comprises input belt wheel I that the motor I be located in described connection housing is connected with motor I, output pulley I and connects the Timing Belt I of described input belt wheel I and output pulley I, and described reductor I is connected with described output pulley I.
Described actuating unit II comprises input belt wheel II that the motor II be located in described connection housing is connected with motor II, output pulley II and connects the Timing Belt II of described input belt wheel II and output pulley II; Also comprise the power shaft that one end is connected with described output pulley II, be provided with the input gear be connected with the described power shaft other end in described wrist body, described reductor II is provided with the output gear engaged with described input gear.
Described output pulley I and reductor I are sleeved on described power shaft; Described reductor I is connected with output pulley I, and described output pulley I is provided with the bearing I be connected with power shaft.
Described adpting flange and described connection housing are connected by screw, and described adpting flange is provided with the positioning step supporting described reductor I.
The power shaft one end be connected with described input gear is provided with the bearing cup be connected with described wrist body, is provided with the bearing II be connected with described power shaft in described bearing cup.
Described input gear and output gear are wildhaber-novikov gear, described input gear is connected by key with described power shaft, described input gear one end is stretched in described bearing cup and is pressed on described bearing II one end, is provided with the positioning retainer ring of the other end compressing described bearing II in described bearing cup.
Described output gear is connected with described reductor II by a connecting axle; Described reductor II is connected with described connecting axle one end, and described output gear is connected by key with the other end of described connecting axle; Described output gear is provided with the bearing III be connected with described wrist body.
Described reductor II is provided with the end flange installing end effector.
Described connection case top and bottom are equipped with cover plate, and described cover plate and described connection housing removably connect.
The invention has the advantages that: this industrial robot bias structure wrist, designed by wrist Rational structure, adopt single supporting construction, make the activity space of five axle reductors unrestricted; And then the five axles energy 360 degree of industrial robot is rotated freely, reduce the pitch time of operation, can increase work efficiency by high degree, save production cost; And its structure is simple, is easy to processing and manufacturing, for some special industry strong adaptabilities.
Accompanying drawing explanation
Mark in the content expressed each width accompanying drawing of description of the present invention below and figure is briefly described:
Fig. 1 is a kind of industrial robot bias structure of the present invention wrist structural representation.
Fig. 2 is that a kind of industrial robot bias structure of the present invention wrist connects shell structure schematic diagram.
Fig. 3 is a kind of industrial robot bias structure of the present invention wrist reductor I schematic diagram.
Fig. 4 is the adpting flange schematic diagram of a kind of industrial robot bias structure of the present invention wrist.
Fig. 5 is a kind of industrial robot bias structure of the present invention wrist output pulley I and the modular construction schematic diagram being fixed on output pulley I.
The modular construction schematic diagram that Fig. 6 is a kind of industrial robot bias structure of the present invention wrist output pulley II and is fixed on output pulley II.
Fig. 7 is a kind of industrial robot bias structure of the present invention wrist input gear and the modular construction schematic diagram be contained in above input gear;
Fig. 8 is the wrist body schematic diagram of a kind of industrial robot bias structure of the present invention wrist;
Fig. 9 is the assembly schematic diagram such as a kind of industrial robot bias structure of the present invention wrist reductor II and output gear;
Figure 10 is the modular construction schematic diagram such as a kind of industrial robot bias structure of the present invention wrist motor II and input belt wheel II;
Figure 11 is the modular construction schematic diagram such as a kind of industrial robot bias structure of the present invention wrist motor I and input belt wheel I;
Figure 12 is a kind of industrial robot bias structure of the present invention wrist Timing Belt I schematic diagram;
Figure 13 is a kind of industrial robot bias structure of the present invention wrist Timing Belt II schematic diagram;
Figure 14 is a kind of industrial robot bias structure of the present invention wrist external structure schematic diagram.
Figure 15 is a kind of industrial robot bias structure of the present invention wrist end flange schematic diagram.
Figure 16 is industrial robot bias structure wrist structural representation in prior art.
Mark in above-mentioned figure is:
1, connect housing, 2, reductor I, 3, adpting flange, 4, output pulley I, 5, output pulley II, 6, power shaft, 7, wrist body, 8, reductor II, 9, input belt wheel II, 10, input belt wheel I, 11, Timing Belt I, 12, Timing Belt II, 13, cover plate, 14, end flange.
51, oil sealing, 52, bearing I, 53, back-up ring.61, fixed head.
71, flat key I, 72, power shaft, 73, bearing cup, 74, bearing II, 75, positioning retainer ring, 76, flat key I, 77, input gear.
91, adjusting pad, 92, connecting axle, 93, spacer, 94, bearing III, 95, output gear, 96, flat key III.
101, installing plate II, 102, flat key IV, 103, belt wheel II fixed head, 103, motor II.
111, installing plate I, 113, flat key V, 114, belt wheel I fixed head, 115, motor I.
141, cover plate I, 142, cover plate II.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, this industrial robot bias structure wrist, for Six-DOF industrial robot, comprise and connect housing 1, connect housing 1 one end to be connected with industrial robot arm, connect housing 1 other end and be provided with adpting flange 3, adpting flange 3 is provided with reductor I 2, reductor I 2 be located at actuating unit I connection be connected in housing 1, reductor I 2 is five axle reductors; Also comprise wrist body 7, wrist body 7 one end is connected with reductor I 2, and the other end of wrist body 7 is provided with reductor II 8, and reductor II 8 is six axle reductors, reductor II 8 be located at wrist body 7 and be connected actuating unit II connection in housing 1.
This industrial robot bias structure wrist, is designed by wrist Rational structure, adopts single supporting construction, makes the rotation space of five axle reductors unrestricted; And then the five axles energy 360 degree of industrial robot is rotated freely, can reduce the process rhythm time, high degree is increased work efficiency, and saves production cost; And its structure is simple, is easy to processing and manufacturing, for some special industry strong adaptabilities.
Fig. 2 is for connecting housing 1, and its effect supports drive disk assembly, as shown in figure 14, connects housing 1 top and bottom and is equipped with cover plate, cover plate be connected housing 1 and removably connect.Cover plate is divided into cover plate I 142 and cover plate II 141, and cover plate is as surface covering parts, and effect is protection internal transmission part and specious effect.
Fig. 3 is reductor I 2, and reductor I 2 transmits and amplifies moment of torsion, and its output is fixed by screws on wrist body 7, and its input is connected with actuating unit I.
Fig. 4 connects reductor I 2 and the adpting flange 3 being connected housing 1, adpting flange 3 be connected housing 1 and be connected by screw, adpting flange 3 is provided with the positioning step of support reductor I 2.Adpting flange 3 for providing positioning supports effect when reductor I 2 rotates, positioning step and reductor I 2 outer wall construction suitable.
As shown in Figure 1, actuating unit I comprises input belt wheel I 10, the output pulley I 4 being located at the motor I 114 connected in housing 1 and being connected with motor I 114 and connects the Timing Belt I 11 inputting belt wheel I 10 and output pulley I 4, and reductor I 2 is connected with output pulley I 4.When motor I 114 works, by band transmission mechanism, five axle deceleration functions 360 degree rotate freely, and five axle reductors drive wrist body 7 to carry out 360 degree and rotate freely motion, and then realize the one degree of freedom motion of industrial machine human wrist.
Actuating unit II comprises input belt wheel II 9, the output pulley II 5 being located at the motor II 104 connected in housing 1 and being connected with motor II 104 and connects the Timing Belt II 12 inputting belt wheel II 9 and output pulley II 5; Also comprise the power shaft 72 that one end is connected with output pulley II 5, be provided with the input gear 77 be connected with power shaft 72 other end in wrist body 7, reductor II 8 is provided with the output gear 95 engaged with input gear 77.
The assembly that Fig. 6 is output pulley II 5 and is fixed on output pulley II 5, comprise belt wheel II fixed head 61 of output pulley II 5 and top loading, integral installation is on power shaft 72.
Motor II 104 work time, transmitted and gear mechanism transmission by V belt translation, power shaft 72, six axle deceleration functions in another spatial dimension 360 degree rotate freely, and then realize industrial machine human wrist another free degree move.
As shown in Figure 1, output pulley I 4 and reductor I 2 are sleeved on power shaft 72, and output pulley I 4 and reductor I 2 freely can rotate around power shaft 72; Reductor I 2 is connected with output pulley I 4, output pulley I 4 has been screwed positioning end cover 15, and positioning end cover 15 screw is installed to above reductor I 23.The assembly that Fig. 5 is output pulley I 4 and is fixed on output pulley I 4, as shown in Figure 5, output pulley I 4 is provided with the bearing I 52 be connected with power shaft 72, the two ends of bearing I 52 is respectively equipped with oil sealing 51 and back-up ring 53.Oil sealing 51 and bearing I 52 are contained in above output pulley I 4, are loaded on back-up ring 53 and prevent bearing I 52 axial float.
As shown in Figure 7, power shaft 72 one end be connected with input gear 77 is provided with the bearing cup 73 be connected with wrist body 7, is provided with the bearing II 74 be connected with power shaft 72 in bearing cup 73.
Input gear 77 and output gear 95 are wildhaber-novikov gear, and input gear 77 is connected by key with power shaft 72, and input gear 77 one end is stretched in bearing cup 73 and is pressed on bearing II 74 one end, are provided with the positioning retainer ring 75 of the other end compressing bearing II 74 in bearing cup 73.
Bearing II 74 is contained on power shaft 72, then integral installation is on bearing cup 73, prevents axial float by positioning retainer ring 75; Flat key I 71 and flat key II 76 are contained on power shaft 72, and flat key I 71 is for the connection of input gear 77 and power shaft 72, and flat key II 76 is for the connection of output pulley II 5 and power shaft 72; Input gear 77 is contained on power shaft 72, is connected on wrist body 7 with screw by bearing cup 73, and power shaft 72 and input gear 77 entirety coordinate with wrist body 7 to install fixes.
Fig. 8 is wrist body 7, and wrist body 7 is the shell structure of hollow, and its effect is for supporting reductor II 8 and the drive disk assembly such as output gear 95 and power shaft 72.
As shown in Figure 9, output gear 95 is connected with reductor II 8 by a connecting axle 92; Reductor II 8 is connected with connecting axle 92 one end, and output gear 95 is connected by key with the other end of connecting axle 92; Output gear 95 is provided with the bearing III 94 be connected with wrist body 7.Adjusting pad 91 is provided with between connecting axle 92 and reductor II 8, adjusting pad 91 facilitates the assembling of connecting axle 92, connecting axle 92 is screwed on reductor II 8 together with adjusting pad 91, and flat key III 96 is contained in above connecting axle 92, and flat key III 96 is for the connection between output gear 95 and connecting axle 92; Bearing III 94 is contained on output gear 95, and connecting axle 92 is provided with the spacer 93 contacted with bearing III 94 and output gear 95, and spacer 93, bearing III 94 and output gear 95 are contained in after on connecting axle 92 together, and whole sub-assembly refills on wrist body 7.
Shown in Figure 10, motor II 104 is contained in above installing plate II 101, and flat key IV 102 is contained on motor II 104, and input belt wheel II 9 is connected with motor II 104 flat key IV 102; Belt wheel II fixed head 103 is contained in above input belt wheel II 9, is therewith fixed by screws on motor II 104, and whole parts are arranged on and connect housing 1 above as the power input portion of 6 axles.
Shown in Figure 11, motor I 114 is contained in above installing plate I 111, and flat key V 112 is contained on motor I 114, and belt wheel I fixed head 113 is contained in above input belt wheel I 10, therewith be fixed by screws on motor I 114, whole parts are arranged on and connect housing 1 above as the importation of 5 axles.
Figure 12 is Timing Belt I 11, is used for transmitting the moment of motor I 114 and power.
Figure 13 is Timing Belt II 12, is used for transmitting the moment of motor II 104 and power.
Shown in Figure 15, reductor II 8 is provided with the end flange 14 installing end effector, and end flange 14 is contained in above reductor II 8, and its effect is with installing end effector.
This industrial robot bias structure wrist is fixed on industrial robot arm, namely on robot 4 shaft flange, by automatically controlled and computer control system, the action of control motor I 114 and motor II 104, is slowed down by V belt translation and reductor and realizes 360 degree of output actions rotated freely of industrial robot wrist 5 axle and 6 axles.
Specific implementation of the present invention is not subject to the restrictions described above.As long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; All within protection scope of the present invention.
Claims (10)
1. an industrial robot bias structure wrist, it is characterized in that: comprise connection housing, described connection shell one end is connected with industrial robot arm, the described connection housing other end is provided with adpting flange, and described adpting flange is provided with and the reductor I being located at actuating unit I connection be connected in housing; Also comprise wrist body, described wrist body one end is connected with described reductor I, and the other end of described wrist body is provided with reductor II, described reductor II and actuating unit II connection be located in described wrist body and described connection housing.
2. industrial robot bias structure wrist as claimed in claim 1, it is characterized in that: described actuating unit I comprises input belt wheel I that the motor I be located in described connection housing is connected with motor I, output pulley I and connects the Timing Belt I of described input belt wheel I and output pulley I, and described reductor I is connected with described output pulley I.
3. industrial robot bias structure wrist as claimed in claim 2, is characterized in that: described actuating unit II comprises input belt wheel II that the motor II be located in described connection housing is connected with motor II, output pulley II and connects the Timing Belt II of described input belt wheel II and output pulley II; Also comprise the power shaft that one end is connected with described output pulley II, be provided with the input gear be connected with the described power shaft other end in described wrist body, described reductor II is provided with the output gear engaged with described input gear.
4. industrial robot bias structure wrist as claimed in claim 3, is characterized in that: described output pulley I and reductor I are sleeved on described power shaft; Described reductor I is connected with output pulley I, and described output pulley I is provided with the bearing I be connected with power shaft.
5. the industrial robot bias structure wrist as described in any one of claim 1-4, is characterized in that: described adpting flange and described connection housing are connected by screw, and described adpting flange is provided with the positioning step supporting described reductor I.
6. the industrial robot bias structure wrist as described in claim 3 or 4, it is characterized in that: the power shaft one end be connected with described input gear is provided with the bearing cup be connected with described wrist body, is provided with the bearing II be connected with described power shaft in described bearing cup.
7. industrial robot bias structure wrist as claimed in claim 6, it is characterized in that: described input gear and output gear are wildhaber-novikov gear, described input gear is connected by key with described power shaft, described input gear one end is stretched in described bearing cup and is pressed on described bearing II one end, is provided with the positioning retainer ring of the other end compressing described bearing II in described bearing cup.
8. industrial robot bias structure wrist as claimed in claim 7, is characterized in that: described output gear is connected with described reductor II by a connecting axle; Described reductor II is connected with described connecting axle one end, and described output gear is connected by key with the other end of described connecting axle; Described output gear is provided with the bearing III be connected with described wrist body.
9. industrial robot bias structure wrist as claimed in claim 8, is characterized in that: described reductor II is provided with the end flange installing end effector.
10. industrial robot bias structure wrist as claimed in claim 9, it is characterized in that: described connection case top and bottom are equipped with cover plate, described cover plate and described connection housing removably connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510098935.2A CN104708636A (en) | 2015-03-05 | 2015-03-05 | Offset structure wrist of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510098935.2A CN104708636A (en) | 2015-03-05 | 2015-03-05 | Offset structure wrist of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104708636A true CN104708636A (en) | 2015-06-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510098935.2A Pending CN104708636A (en) | 2015-03-05 | 2015-03-05 | Offset structure wrist of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104708636A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217413A (en) * | 2016-08-31 | 2016-12-14 | 珠海格力智能装备有限公司 | Transmission shaft component and there is its robot |
| CN109591043A (en) * | 2017-09-30 | 2019-04-09 | 沈阳新松机器人自动化股份有限公司 | A kind of eccentrically arranged type wrist joint |
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| CN85107385A (en) * | 1985-05-31 | 1986-11-26 | 大日机工株式会社 | Articulated robot |
| CN1871102A (en) * | 2003-12-22 | 2006-11-29 | Abb公司 | A wrist unit to a robot arm |
| CN2875727Y (en) * | 2005-12-27 | 2007-03-07 | 中国科学院沈阳自动化研究所 | Wrist structure of underwater mechanical hand |
| US20110113917A1 (en) * | 2009-11-19 | 2011-05-19 | HNG FU JIN PRECISION INDUSTRY(ShenZhen) CO., LTD. | Robot arm assembly and industrial robot using the same |
| US20120085191A1 (en) * | 2010-10-11 | 2012-04-12 | Hon Hai Precision Industry Co., Ltd. | Robot arm assembly |
| US20130125696A1 (en) * | 2011-11-18 | 2013-05-23 | Hon Hai Precision Industry Co., Ltd. | Robot arm assembly |
| CN103934834A (en) * | 2013-01-17 | 2014-07-23 | 株式会社安川电机 | Robot |
| CN204525510U (en) * | 2015-03-05 | 2015-08-05 | 安徽埃夫特智能装备有限公司 | Industrial robot bias structure wrist |
-
2015
- 2015-03-05 CN CN201510098935.2A patent/CN104708636A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85107385A (en) * | 1985-05-31 | 1986-11-26 | 大日机工株式会社 | Articulated robot |
| CN1871102A (en) * | 2003-12-22 | 2006-11-29 | Abb公司 | A wrist unit to a robot arm |
| CN2875727Y (en) * | 2005-12-27 | 2007-03-07 | 中国科学院沈阳自动化研究所 | Wrist structure of underwater mechanical hand |
| US20110113917A1 (en) * | 2009-11-19 | 2011-05-19 | HNG FU JIN PRECISION INDUSTRY(ShenZhen) CO., LTD. | Robot arm assembly and industrial robot using the same |
| US20120085191A1 (en) * | 2010-10-11 | 2012-04-12 | Hon Hai Precision Industry Co., Ltd. | Robot arm assembly |
| US20130125696A1 (en) * | 2011-11-18 | 2013-05-23 | Hon Hai Precision Industry Co., Ltd. | Robot arm assembly |
| CN103934834A (en) * | 2013-01-17 | 2014-07-23 | 株式会社安川电机 | Robot |
| CN204525510U (en) * | 2015-03-05 | 2015-08-05 | 安徽埃夫特智能装备有限公司 | Industrial robot bias structure wrist |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217413A (en) * | 2016-08-31 | 2016-12-14 | 珠海格力智能装备有限公司 | Transmission shaft component and there is its robot |
| CN109591043A (en) * | 2017-09-30 | 2019-04-09 | 沈阳新松机器人自动化股份有限公司 | A kind of eccentrically arranged type wrist joint |
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| CB02 | Change of applicant information |
Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Applicant after: Eft intelligent equipment Limited by Share Ltd Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap Applicant before: Anhui Effort Intelligent Equipment Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150617 |
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| RJ01 | Rejection of invention patent application after publication |