CN105082171A - Multifunctional robot wrist with replaceable end actuator - Google Patents
Multifunctional robot wrist with replaceable end actuator Download PDFInfo
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- CN105082171A CN105082171A CN201510574503.4A CN201510574503A CN105082171A CN 105082171 A CN105082171 A CN 105082171A CN 201510574503 A CN201510574503 A CN 201510574503A CN 105082171 A CN105082171 A CN 105082171A
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- cross axle
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- tool
- middle cross
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Abstract
The invention relates to a multifunctional robot wrist with a replaceable end actuator. The multifunctional robot wrist is aimed at solving the problems that in the prior art, most robot wrists are connected with end actuators, so that the function that one wrist drives various end actuators can not be achieved, manufacturing cost is high, and using is inconvenient. The multifunctional robot wrist comprises an outer power output mechanism, a middle locking and unlocking mechanism, an inner power output mechanism and a tool mechanism. The outer power output mechanism and the middle locking and unlocking mechanism are sequentially arranged on the inner power output mechanism from outside to inside in a sleeving mode. The tool mechanism is installed at the power output end of the outer power output mechanism, the power output end of the middle locking and unlocking mechanism and the power output end of the inner power output mechanism. The multifunctional robot wrist is applied to the field where end actuators need to be replaced and actuators need to be locked.
Description
Technical field
The present invention relates to a kind of robot wrist of replaceable end effector, be specifically related to a kind of multi-purpose machine human wrist of replaceable end effector.
Background technology
Robot wrist is used widely in industrial robot, and it plays an important role in the industrial production.In order to meet different job requirements, the function of tail end manipulator of robot is often different.In order to make productivity effect maximize and reduce costs, a kind of robot wrist should drive multiple end effector.In order to realize above-mentioned target, robot wrist needs dock from different end effectors and realize locking under the driving of mechanical arm.Meanwhile, robot wrist is also required to be end effector provides the power of some to input, to facilitate end effector operation.Current a lot of robot wrists link together with end effector, cannot realize the function that same wrist drives multiple end effector, cause its cost of manufacture very high, use inconvenience.
Summary of the invention
The present invention adopts a lot of robot wrist in prior art to link together with end effector to solve, the function that same wrist drives multiple end effector cannot be realized, cause its cost of manufacture very high, and inconvenient problem with use, and then provide a kind of multi-purpose machine human wrist of replaceable end effector.
The present invention is the technical scheme adopted that solves the problem:
A kind of multi-purpose machine human wrist of replaceable end effector: it comprises outer power take-off mechanism, intermediate layer locking and relieving mechanism, internal layer power take-off mechanism and tool mechanism, outer power take-off mechanism and intermediate layer locking are sleeved on internal layer power take-off mechanism with relieving mechanism ecto-entad successively, and tool mechanism is arranged on the clutch end of outer power take-off mechanism, intermediate layer locking with on the clutch end of relieving mechanism and the clutch end of internal layer power take-off mechanism.
The invention has the beneficial effects as follows: structure of the present invention is simple; machine driving is adopted to realize the control of robot wrist to end effector completely; drive unit is placed in wrist, and end effector only plays a part to transmit power, is convenient to protect drive unit.Utilize two motors and mechanical arm to input as the power of three Hooke's hinges respectively, driving-chain structure can be simplified, optimize wrist overall structure size, and be conducive to control operation.The present invention can realize the butt-joint locking with multiple end effector, and can be different end effector and provide power to input.
Accompanying drawing explanation
Fig. 1 is the overall schematic diagram of the present invention, Fig. 2 is the overall structure schematic diagram that robot wrist removes driving mechanism bearing 1-1 and tool mechanism 4, Fig. 3 is the schematic diagram of three Hooke's hinge socket join structures in robot wrist, Fig. 4 is A-A direction view in Fig. 3, Fig. 5 is the interface diagram of robot wrist and tool mechanism 4, Fig. 6 is the schematic diagram that instrument locking ' T ' shape nut 2-10 and multiple steel ball 2-11 is arranged on instrument locking ' T ' shape screw rod 2-9, Fig. 7 is two kinds of plum blossom tool interface 4-1, tool interface seat 4-2 and end-of-arm tooling 4-3 is placed on the schematic diagram on tool stand 4-4.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 7 illustrates present embodiment, a kind of multi-purpose machine human wrist of replaceable end effector, it comprises outer power take-off mechanism 1, intermediate layer locking and relieving mechanism 2, internal layer power take-off mechanism 3 and tool mechanism 4, outer power take-off mechanism 1 and intermediate layer locking are sleeved on internal layer power take-off mechanism 3 with relieving mechanism 2 ecto-entad successively, tool mechanism 4 is arranged on the clutch end of outer power take-off mechanism 1, intermediate layer locking is with on the clutch end of relieving mechanism 2 and the clutch end of internal layer power take-off mechanism 3.
Detailed description of the invention two: composition graphs 1-Fig. 5 illustrates present embodiment, the multi-purpose machine human wrist of a kind of replaceable end effector of present embodiment, described outer power take-off mechanism 1 comprises driving mechanism bearing 1-1, outer cross axle outer shroud 1-2, outer cross axle inner ring 1-4, outer cross axle 1-5, eight rib tool wrench 1-6 and four outer mechanism fillister head screw 1-3, eight rib tool wrench 1-6 are processed with multiple groove, outer cross axle outer shroud 1-2, outer cross axle inner ring 1-4 and outer cross axle 1-5 ecto-entad are set with setting successively, four outer mechanism fillister head screw 1-3 are arranged on outer cross axle outer shroud 1-2 along the circumferencial direction of outer cross axle 1-5 is uniform, and each outer mechanism fillister head screw 1-3 ecto-entad is successively through outer cross axle outer shroud 1-2 and outer cross axle inner ring 1-4 screw thread is arranged on outer cross axle 1-5, outer cross axle outer shroud 1-2 is arranged on one end of driving mechanism bearing 1-1 by screw, eight rib tool wrench 1-6 are arranged on outer cross axle inner ring 1-4 by screw, other structure is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 6 illustrates present embodiment, the multi-purpose machine human wrist of a kind of replaceable end effector of present embodiment, the locking of described intermediate layer comprises the first servomotor assembly 2-1 with relieving mechanism 2, with the gear 2-2 of the first gear shaft, with the gear 2-3 of the second gear shaft, 3rd gear 2-4, middle cross axle outer shroud 2-5, middle cross axle inner ring 2-7, middle cross axle 2-8, instrument locking ' T ' shape screw rod 2-9, instrument locking ' T ' shape nut 2-10, four relieving mechanism fillister head screw 2-6 and multiple steel ball 2-11, instrument locking ' T ' shape nut 2-10 is processed with multiple fin corresponding with multiple groove on eight rib tool wrench 1-6, and be processed with arc groove between adjacent two fins, one end of first servomotor assembly 2-1 output shaft is connected with the gear 2-2 gear shaft with the first gear shaft, gear 2-2 with the first gear shaft and the engagement of the gear 2-3 tooth with the second gear shaft, gear 2-2 with the first gear shaft and the gear 2-3 with the second gear shaft is arranged on driving mechanism bearing 1-1, and engage with the 3rd gear 2-4 tooth with the gear 2-3 of the second gear shaft, 3rd gear 2-4 is connected with middle cross axle outer shroud 2-5 by screw, middle cross axle outer shroud 2-5 is set on the outer wall of middle cross axle inner ring 2-7, middle cross axle 2-8 is inlaid on middle cross axle inner ring 2-7, four relieving mechanism fillister head screw 2-6 are not all arranged on middle cross axle outer shroud 2-5 along middle cross axle outer shroud 2-5 circumferencial direction, and the end of thread of each relieving mechanism fillister head screw 2-6 is set in the outer wall of middle cross axle inner ring 2-7 through middle cross axle outer shroud 2-5 successively and is threaded and is arranged on middle cross axle 2-8, middle cross axle inner ring 2-7 is locked ' T ' shape screw rod 2-9 and is fixedly connected with by screw with instrument, instrument locking ' T ' shape nut 2-10 is threaded and is arranged on instrument locking ' T ' shape screw rod 2-9, and eight rib tool wrench 1-6 are set on instrument locking ' T ' shape nut 2-10, and the fin of each instrument locking ' T ' shape nut 2-10 is inlaid in a groove on eight rib tool wrench 1-6, and be provided with a steel ball 2-11 in the arc groove of each instrument locking ' T ' shape nut 2-10, other structure is identical with detailed description of the invention one.
In present embodiment, the first servomotor assembly 2-1 is clockwise and anticlockwise motor.
Detailed description of the invention four: composition graphs 1-Fig. 4 illustrates present embodiment, the multi-purpose machine human wrist of a kind of replaceable end effector of present embodiment, described internal layer power take-off mechanism 3 comprises the second servomotor assembly 3-1, connecting axle 3-2, cross axle 3-3, bolt shaft 3-4 and hexagonal wrench 3-5, second servomotor assembly 3-1 is arranged in driving mechanism bearing 1-1, one end of second servomotor assembly 3-1 output shaft and one end of connecting axle 3-2 are connected by screw, the other end of connecting axle 3-2 is rotatably assorted with cross axle 3-3 and is connected, bolt shaft 3-4 is inserted on the endoporus of cross axle 3-3, one end of hexagonal wrench 3-5 is arranged on the two ends of bolt shaft 3-4, the other end of hexagonal wrench 3-5 is inserted in instrument locking ' T ' shape screw rod 2-9, other structure is identical with detailed description of the invention one.
In present embodiment, the second servomotor assembly 3-1 is clockwise and anticlockwise motor.
Detailed description of the invention five: composition graphs and Fig. 7 illustrate present embodiment, the multi-purpose machine human wrist of a kind of replaceable end effector of present embodiment, described tool mechanism 4 comprises plum blossom tool interface 4-1, tool interface seat 4-2 and end-of-arm tooling 4-3, one end of plum blossom tool interface 4-1 is connected with one end of tool interface seat 4-2, the other end of tool interface seat 4-2 is connected with end-of-arm tooling 4-3, identical with detailed description of the invention one according to other structure.
Operation principle
Driving mechanism bearing 1-1 of the present invention is fixedly connected with one end of mechanical arm, and the first servomotor assembly 2-1 and the second servomotor assembly 3-1 provides power in the present invention, realize locking robot wrist and end effector respectively and provide the function of two power input for end effector, during work, first robot wrist delivers to above end effector by mechanical arm, is realized the docking of tool wrench 1-6 and plum blossom tool interface 4-1 from all directions by the motion of mechanical arm.
First servomotor assembly 2-1 drives the gear 2-2 with the first gear shaft to rotate, gear 2-2 with the first gear shaft drives the gear 2-3 with the second gear shaft to rotate by gear-driven form, gear 2-3 with the second gear shaft drives the 3rd gear 2-4 to rotate by gear-driven form, thus in the middle of driving, cross axle outer shroud 2-5 rotates.In the middle of middle cross axle outer shroud 2-5 is driven by middle cross shaft device, cross axle inner ring 2-7 rotates.And then driven tool locking T-shaped screw rod 2-9 rotates, instrument locking ' T ' shape nut 2-10 realizes translational motion under the driving of instrument locking ' T ' shape screw rod 2-9, extrude the steel ball 2-11 being arranged in arc groove on instrument locking ' T ' shape nut 2-10, realize the locking function of robot wrist and end effector, (when the first servomotor assembly 2-1 reverses, then steel ball 2-11 slips in the arc groove of instrument locking ' T ' shape nut 2-10, realizes the unblock of wrist and end effector.) in addition, this wrist also can be end effector and provides two power inputs.First power input is provided by robotic arm: robotic arm drives driving mechanism bearing 1-1 to rotate, driving mechanism bearing 1-1 drives outer cross axle outer shroud 1-2 to rotate, outer cross axle outer shroud 1-2 drives outer cross axle inner ring 1-4 to rotate by outer cross shaft device, and then drive eight rib tool wrench 1-6 to rotate, thus drive end effector motion.Second power input is provided by the second servomotor assembly 3-1: the second servomotor assembly 3-1 drives connecting axle 3-2 to rotate, connecting axle 3-2 drives outer hexagon 3-5 to rotate by inner cross shaft device, it can provide another power to input for end effector, can be selective for different end effector, and then realize object of the present invention.
Claims (5)
1. the multi-purpose machine human wrist of a replaceable end effector, it is characterized in that: it comprises outer power take-off mechanism (1), intermediate layer locking and relieving mechanism (2), internal layer power take-off mechanism (3) and tool mechanism (4), outer power take-off mechanism (1) and intermediate layer locking are sleeved on internal layer power take-off mechanism (3) with relieving mechanism (2) ecto-entad successively, tool mechanism (4) is arranged on the clutch end of outer power take-off mechanism (1), intermediate layer locking is with on the clutch end of relieving mechanism (2) and the clutch end of internal layer power take-off mechanism (3).
2. the multi-purpose machine human wrist of a kind of replaceable end effector according to claim 1, it is characterized in that: described outer power take-off mechanism (1) comprises driving mechanism bearing (1-1), outer cross axle outer shroud (1-2), outer cross axle inner ring (1-4), outer cross axle (1-5), eight rib tool wrench (1-6) and four outer mechanisms fillister head screw (1-3), eight rib tool wrench (1-6) are processed with multiple groove, outer cross axle outer shroud (1-2), outer cross axle inner ring (1-4) and outer cross axle (1-5) ecto-entad are set with setting successively, four outer mechanisms fillister head screw (1-3) are arranged on outer cross axle outer shroud (1-2) along the circumferencial direction of outer cross axle (1-5) is uniform, and each outer mechanism fillister head screw (1-3) ecto-entad is successively through outer cross axle outer shroud (1-2) and outer cross axle inner ring (1-4) and screw thread is arranged on outer cross axle (1-5), outer cross axle outer shroud (1-2) is arranged on one end of driving mechanism bearing (1-1) by screw, eight rib tool wrench (1-6) are arranged on outer cross axle inner ring (1-4) by screw.
3. the multi-purpose machine human wrist of a kind of replaceable end effector according to claim 2, it is characterized in that: the locking of described intermediate layer comprises the first servomotor assembly (2-1) with relieving mechanism (2), with the gear (2-2) of the first gear shaft, with the gear (2-3) of the second gear shaft, 3rd gear (2-4), middle cross axle outer shroud (2-5), middle cross axle inner ring (2-7), middle cross axle (2-8), instrument locking ' T ' shape screw rod (2-9), instrument locking ' T ' shape nut (2-10), four relieving mechanism fillister head screws (2-6) and multiple steel ball (2-11), instrument locking ' T ' shape nut (2-10) is processed with multiple fin corresponding with the upper multiple groove of eight rib tool wrench (1-6), and be processed with arc groove between adjacent two fins, one end of first servomotor assembly (2-1) output shaft is connected with gear (2-2) gear shaft with the first gear shaft, gear (2-2) with the first gear shaft and gear (2-3) tooth with the second gear shaft engage, gear (2-2) with the first gear shaft and the gear (2-3) with the second gear shaft are arranged on driving mechanism bearing (1-1), and engage with the 3rd gear (2-4) tooth with the gear (2-3) of the second gear shaft, 3rd gear (2-4) is connected with middle cross axle outer shroud (2-5) by screw, middle cross axle outer shroud (2-5) is set on the outer wall of middle cross axle inner ring (2-7), middle cross axle (2-8) is inlaid on middle cross axle inner ring (2-7), four relieving mechanism fillister head screws (2-6) are not all arranged on middle cross axle outer shroud (2-5) along middle cross axle outer shroud (2-5) circumferencial direction, and the end of thread of each relieving mechanism fillister head screw (2-6) is set in the outer wall of middle cross axle inner ring (2-7) through middle cross axle outer shroud (2-5) successively and is threaded and is arranged on middle cross axle (2-8), middle cross axle inner ring (2-7) is locked ' T ' shape screw rod (2-9) and is fixedly connected with by screw with instrument, instrument locking ' T ' shape nut (2-10) is threaded and is arranged on instrument locking ' T ' shape screw rod (2-9), and eight rib tool wrench (1-6) are set on instrument locking ' T ' shape nut (2-10), and the fin of each instrument locking ' T ' shape nut (2-10) is inlaid in a groove on eight rib tool wrench (1-6), and be provided with a steel ball (2-11) in the arc groove of each instrument locking ' T ' shape nut (2-10).
4. the multi-purpose machine human wrist of a kind of replaceable end effector according to claim 3, it is characterized in that: described internal layer power take-off mechanism (3) comprises the second servomotor assembly (3-1), connecting axle (3-2), cross axle (3-3), bolt shaft (3-4) and hexagonal wrench (3-5), second servomotor assembly (3-1) is arranged in driving mechanism bearing (1-1), one end of second servomotor assembly (3-1) output shaft and one end of connecting axle (3-2) are connected by screw, the other end of connecting axle (3-2) is rotatably assorted with cross axle (3-3) and is connected, bolt shaft (3-4) is inserted on the endoporus of cross axle (3-3), one end of hexagonal wrench (3-5) is arranged on the two ends of bolt shaft (3-4), the other end of hexagonal wrench (3-5) is inserted in instrument locking ' T ' shape screw rod (2-9).
5. the multi-purpose machine human wrist of a kind of replaceable end effector according to claim 4, it is characterized in that: described tool mechanism (4) comprises plum blossom tool interface (4-1), tool interface seat (4-2) and end-of-arm tooling (4-3), one end of plum blossom tool interface (4-1) is connected with one end of tool interface seat (4-2), the other end of tool interface seat (4-2) is connected with end-of-arm tooling (4-3), plum blossom tool interface (4-1) is arranged on eight rib tool wrench (1-6), instrument locking ' T ' shape screw rod (2-9) and instrument are locked on ' T ' shape nut (2-10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574503.4A CN105082171B (en) | 2015-09-10 | 2015-09-10 | A kind of multi-purpose machine human wrist of replaceable end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574503.4A CN105082171B (en) | 2015-09-10 | 2015-09-10 | A kind of multi-purpose machine human wrist of replaceable end effector |
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| CN105082171A true CN105082171A (en) | 2015-11-25 |
| CN105082171B CN105082171B (en) | 2016-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510574503.4A Active CN105082171B (en) | 2015-09-10 | 2015-09-10 | A kind of multi-purpose machine human wrist of replaceable end effector |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378787A (en) * | 2016-12-05 | 2017-02-08 | 必诺机械（东莞）有限公司 | Flexible machining system and method |
| CN106737797A (en) * | 2017-03-23 | 2017-05-31 | 马鞍山工蜂智能科技有限公司 | A kind of robot fixture of automatically replaceable fixture |
| CN113400349A (en) * | 2021-06-02 | 2021-09-17 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
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| DD219426A1 (en) * | 1983-11-23 | 1985-03-06 | Smab Forsch Entw Rat | DRIVE-FREE GRIPPERS FOR INDUSTRIAL ROBOTS |
| EP0805739A1 (en) * | 1995-01-27 | 1997-11-12 | Asea Brown Boveri Ab | An industrial robot wrist unit |
| CN1871102A (en) * | 2003-12-22 | 2006-11-29 | Abb公司 | A wrist unit to a robot arm |
| CN101479074A (en) * | 2006-07-03 | 2009-07-08 | 瓦利亚尼有限公司 | System for rapid change of head on operating machine |
| CN103386688A (en) * | 2013-07-30 | 2013-11-13 | 哈尔滨工业大学 | Tool replacing device for tail end of space robot |
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2015
- 2015-09-10 CN CN201510574503.4A patent/CN105082171B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD219426A1 (en) * | 1983-11-23 | 1985-03-06 | Smab Forsch Entw Rat | DRIVE-FREE GRIPPERS FOR INDUSTRIAL ROBOTS |
| EP0805739A1 (en) * | 1995-01-27 | 1997-11-12 | Asea Brown Boveri Ab | An industrial robot wrist unit |
| CN1871102A (en) * | 2003-12-22 | 2006-11-29 | Abb公司 | A wrist unit to a robot arm |
| CN101479074A (en) * | 2006-07-03 | 2009-07-08 | 瓦利亚尼有限公司 | System for rapid change of head on operating machine |
| CN103386688A (en) * | 2013-07-30 | 2013-11-13 | 哈尔滨工业大学 | Tool replacing device for tail end of space robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378787A (en) * | 2016-12-05 | 2017-02-08 | 必诺机械（东莞）有限公司 | Flexible machining system and method |
| CN106737797A (en) * | 2017-03-23 | 2017-05-31 | 马鞍山工蜂智能科技有限公司 | A kind of robot fixture of automatically replaceable fixture |
| CN113400349A (en) * | 2021-06-02 | 2021-09-17 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113400349B (en) * | 2021-06-02 | 2022-11-25 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
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| Publication number | Publication date |
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| CN105082171B (en) | 2016-10-19 |
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