CN105479481A - Wrist structure of articulated machine arm - Google Patents
Wrist structure of articulated machine arm Download PDFInfo
- Publication number
- CN105479481A CN105479481A CN201410474244.3A CN201410474244A CN105479481A CN 105479481 A CN105479481 A CN 105479481A CN 201410474244 A CN201410474244 A CN 201410474244A CN 105479481 A CN105479481 A CN 105479481A
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- wrist
- signal
- processing circuit
- wrist body
- circuit plate
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Abstract
The invention discloses a wrist structure of an articulated machine arm. The wrist structure comprises a wrist body, a wrist rotary body pivotally arranged at the front end part of the wrist body in a controllable manner, a signal processing circuit board detachably arranged at the back end part of the wrist body and located in the accommodating part and equipped with a gap corresponding to the wire port, a connector arranged in the wrist body and connected with the signal processing circuit board, a control unit arranged in the accommodating part of the wrist body and connected with the signal processing circuit board, a driving unit arranged at the accommodating part of the wrist body and used for controlling the wrist rotary body to swing relative to the wrist body. The wrist body is composed of an accommodating part composed of a front end part and a back end part and arranged between the front end part and the back end part, a wire port arranged at the back end part and used for communicating the accommodating part with the outside. Without limiting rotation angles, the wrist structure helps to decrease number of wires for penetrating through wire port of a wrist in order to improve convenience for installation, maintenance and control.
Description
Technical field
The present invention relates to articulated robot arm, refer to a kind of wrist structure of articulated robot arm especially.
Background technology
Due to robotic arm has can be handling, be therefore widely used in the equipment in various field.Such as be applied in field of machining, this robotic arm can be arranged in pairs or groups processing machine, by this robotic arm automatic clamping and placing processing object, allows processing machine carry out processing operation to processing object; Be applied in medical field again, this robotic arm can control by doctor, to carry out surgical medical to sufferer; Be applied to field of game entertainment again, by controlling the movement of this robotic arm to carry out clamping the function of game pieces.
Consult Fig. 1, display U.S. US20110154938A1's is wherein one graphic, a kind of joint group structure of mechanical arm is provided, it is for controlling the revolution being arranged at wrist joint 13 inside, multiple cables is entered in wrist joint 13 by arm joint 11 inside connect with inner motors, the phenomenon be wound around can not be there is when wrist joint rotates for making cable, the shaft joint 14 that one has through hole 141 is set between this wrist joint 13 and arm joint 11, the cable of connection wrist joint motor can be entered in wrist joint by the through hole 141 on shaft joint 14.But, because case before this patent is arranged in arm joint 11 by this shaft joint 14, therefore the problem that arm joint 11 length is long is easily caused, and due to the structural strength of shaft joint 14 own more weak, the moment of torsion causing wrist joint 13 can bear is lower and can limit the angle rotatable of wrist joint 13.
The hollow type reductor with hollow hole can be adopted to drive wrist joint for avoiding the problems referred to above, cable is made directly to enter in wrist joint by the hollow hole of hollow type reductor, but because the size of the hollow hole of hollow type reductor limits, the number of cables that can pass is limited, cable in order to control the end-effector of arm end must be arranged at arm outside, easily makes this external cable that the problem be wound around occurs when causing arm to operate.
For this reason, before Japan JP2006321026 patent, case provides a kind of industrial robot, it is for reducing the inner cabling of arm, matrix form converter is set up in each CD-ROM drive motor, the power sources in parallel of the 3 phase AC power supplies that order is outside and each motor, makes original power line sum be reduced to 3 by 12, the number of cables being arranged in arm inside is reduced, make cable can pass through the hollow hole of hollow type reductor, reduce difficulty during distribution.But this matrix converter wants control voltage and electric current simultaneously to need more complicated control technology, therefore easily causes the complicated of system.
Summary of the invention
Technical problem to be solved by this invention is the wrist structure providing a kind of articulated robot arm, and it mainly, under the prerequisite of not limiting rotation angle, reduces the number of cables of the string holes through wrist, with the convenience of erection & lift, maintenance and control.
For solving the problem, the invention provides a kind of wrist structure of articulated robot arm, comprise: a wrist body, there is a leading section, a rearward end, holding part and be located between this forward and backward end is located at this rearward end and makes this holding part and the extraneous string holes be connected; One wrist is turned, and can be hubbed on the leading section of this wrist body with being controlled; One signal processing circuit plate, can be arranged at the rearward end of this wrist body and be positioned at this holding part with separating, and there is a pair should the breach of string holes; A connector, is located at this wrist body and links with this signal processing circuit plate signal; One control unit, is located at the holding part of this wrist body, and links with this signal processing circuit plate signal; One driver element, is located at the holding part of this wrist body, and controls this wrist and turn relative to this wrist body oscillatory.
Preferably, this signal processing circuit plate has more a tandem signal transmission interface, the string holes of this wrist body is placed through in this holding part for a composite cable, and this composite cable comprises a signal and connects this tandem signal transmission interface and tandem signal cable in order to transmit tandem signal.
Preferably, this signal processing circuit plate has more one first connector module, one second connector module, one I/O module, and a processing unit, this the first connector module is that signal connects between this tandem signal transmission interface and this tandem signal cable, this processing unit is delivered to again in order to tandem signal to be sent to this tandem signal transmission interface, this processing unit is decoded to tandem signal, this the second connector module signal connects this I/O module, and respectively with this control unit, between this connector, signal connects a control RCA, one connects RCA.
Preferably, this signal processing circuit plate can be arranged at the rearward end of this wrist body by a board and be positioned at this holding part with separating, and this board has a locking and connects this quick detach portion in the quick detach portion of this wrist body rearward end and one and be positioned at this wrist body holding part and year portion locked for this signal processing circuit plate.
Preferably, this wrist is turned and is had the second movable part that first movable part and being hubbed on this wrist body leading section is hubbed at this first movable part, and this driver element has the second groups of motors that this first movable part of a control rotates relative to this first movable part relative to the first groups of motors and this second movable part of control of this wrist body oscillatory.
Preferably, this composite cable more comprises motor power cable and the motor signal cable that is electrically connected to this first and second groups of motors.
Preferably, this first groups of motors comprises the first motor that one first reductor and one and this first reductor power link, and this second groups of motors comprises the second motor that one second reductor and one and this second reductor power link.
Preferably, the rearward end of this wrist body to be located at arm body on the other hand pivotally, this arm body is provided with the hollow type reductor that a connection drives this wrist body rearward end, and this hollow type reductor has one and is communicated with and the hollow hole placed for a composite cable with this string holes.
Accompanying drawing explanation
Tu1Shi U.S. US20110154938A1's is wherein one graphic.
Fig. 2 is side view of the present invention, and display the present invention is provided with end-effector and the state being located at robotic arm arm joint.
Fig. 3 is three-dimensional combination figure of the present invention.
Fig. 4 is three-dimensional exploded view of the present invention, and display signal treatment circuit plate is located away from the state of wrist body.
Fig. 5 is three-dimensional exploded view of the present invention, and display board and signal processing circuit plate are located away from the state of wrist body.
Fig. 6 is top view of the present invention.
Fig. 7 is side view of the present invention, the state of display signal treatment circuit plate.
Fig. 8 is block diagram of the present invention, shows the schematic diagram that signal of the present invention controls.
Fig. 9 is three-dimensional exploded view of the present invention, and display the present invention can be located at the state that has the arm body of hollow type reductor pivotally.
Description of reference numerals
Wrist joint 11
End-effector 12
Arm joint 13
Shaft joint 14
Arm body 21
End-effector 22
Controller 23
Tandem signal transmission interface 231
CPU 232
Hollow type reductor 26
Hollow hole 261
Wrist body 30
Leading section 31
Rearward end 32
Holding part 33
String holes 34
Wrist turns 40
First movable part 41
Second movable part 42
Signal processing circuit plate 50
Breach 51
Stud 52
Tandem signal transmission interface 53
First connector module 54
I/O module 55
Second connector module 56
Processing unit 57
Connector 60
Connector RCA 61
Signal/power line 62
Control unit 70
Control unit RCA 71
Driver element 80
First groups of motors 81
First reductor 811
First motor 812
Second groups of motors 82
Second reductor 821
Second motor 822
Composite cable 91
The tandem signal cable 911 of tandem signal
Motor power cable 912
Motor signal cable 913
Board 96
Quick detach portion 961
Carry portion 962
Board breach 963
Detailed description of the invention
Consult shown in Fig. 2 to Fig. 8, the wrist structure of a kind of articulated robot arm that the embodiment of the present invention provides, it is suitable for and is located on robotic arm arm body 21, and be provided with end-effector 22, and be to be turned 40, one signal processing circuit plate 50, a connector 60, control unit 70 and a driver element 80 by wrist body 30, wrist, wherein:
Described wrist body 30, has leading section 31, rearward end 32, holding part 33 and be located between this forward and backward end 31,32 and is located at this rearward end 32 and makes the string holes 34 that this holding part 33 is connected with the external world; In the present embodiment, this rearward end 32 is the arm bodies 21 that can be located at robotic arm pivotally, this string holes 34 can be placed through in this holding part 33 for a composite cable 91, and this composite cable 91 comprises the tandem signal cable 911 of tandem signal, motor power cable 912 and motor signal cable 913.
Described wrist turns 40, can be hubbed on the leading section 31 of this wrist body 30 with being controlled; In the present embodiment, this wrist is turned and 40 is had the second movable part 42 that first movable part 41 and being hubbed on this wrist body 30 leading section 31 is hubbed at this first movable part 41, and this second movable part 42 is provided with this end-effector 22.
Described signal processing circuit plate 50, can be arranged at the rearward end 32 of this wrist body 30 and be positioned at this holding part 33 with separating, and there is a pair should the breach 51 of string holes 34; In the present embodiment, this signal processing circuit plate 50 can be arranged at the rearward end 32 of this wrist body 30 by a board 96 and be positioned at this holding part 33 with separating, this board 96 has a locking and connects this quick detach portion 961 in the quick detach portion 961 and of this wrist body 30 rearward end 32 and be positioned at this wrist body 30 holding part 33 and year portion 962 locked for this signal processing circuit plate 50, certainly, this board 96 also has should the board breach 963 of string holes 34, and is through multiple studs 52 between this signal processing circuit plate 50 and this board 96 and mutually locks; In addition, this signal processing circuit plate 50 has more the second connector module 56 and processing unit 57 that the first connector module 54, I/O module 55, signal that tandem signal transmission interface 53, signal connects this tandem signal transmission interface 53 connects this I/O module 55, the tandem signal cable 911 of this composite cable 91 is that signal connects this first connector module 54 and is connected in signal with this tandem signal transmission interface 53, and in order to transmit tandem signal.
Described connector 60, is located at this wrist body 30 and links with this signal processing circuit plate signal 50; In the present embodiment, this connector 60 is act input/output connectors is example, and connect this second connector module 56 by a connector RCA 61 signal, be connected with I/O module 55 signal of this signal processing circuit plate 50 in order to do making this connector 60, in addition, can connect between this connector 60 and this end-effector 22 and establish one signal/power line 62 (as shown in Figure 2), using the transmission as control signal and electric power.
Described control unit 70, is located at the holding part 33 of this wrist body 30, and links with this signal processing circuit plate 50 signal; In the present embodiment, this control unit 70 is act control unit of electromagnetic valves is example, and connects this second connector module 56 by magnetic valve RCA 71 signal, is connected with I/O module 55 signal of this signal processing circuit plate 50 in order to do making this control unit 70.
Described driver element 80, is located at the holding part 33 of this wrist body 30, and controls this wrist and turn and 40 to swing relative to this wrist body 30; In the present embodiment, this driver element 80 has this first movable part 41 of a control and controls relative to the first groups of motors 81 and that this wrist body 30 swings the second groups of motors 82 that this second movable part 42 rotates relative to this first movable part 41, and controlled by the controller 23 being located at robotic arm base, and the signal of this first and second groups of motors 81,82 controls and power source is from the motor power cable 912 in this composite cable 91 and motor signal cable 913; And this first groups of motors 81 comprises the first motor 812 that one first reductor 811 and one and this first reductor 811 power link, this second groups of motors 82 comprises the second motor 822 that one second reductor 821 and one and this second reductor 821 power link.
The above is embodiment of the present invention main member and configuration explanation thereof.Effect as the embodiment of the present invention makes the following instructions.
Because the present invention is provided with this signal processing circuit plate 50 in the holding part 33 of this wrist body 30, and this signal processing circuit plate 50 at least has this tandem signal transmission interface 53, and signal connects one end of the tandem signal cable 911 of this composite cable 91 through this first connector module 54, the other end of this tandem signal cable 911 is then connected to (as shown in Figure 8) on the controller 23 of robotic arm base, therefore, the tandem signal be able to the controller 23 of this robotic arm sends is decoded as signal arranged side by side, and using this signal arranged side by side as output signal in order to control this control unit 70 or end-effector 22, similarly, the input signal received with juxtaposition is also converted to tandem signal by this signal processing circuit plate 50 simultaneously, again this tandem signal is sent to robotic arm controller 23, use reach not limiting rotation angle and strengthen this string holes 34 aperture prerequisite under, reduce through the number of cables of the string holes 34 of robotic arm wrist, with the convenience of erection & lift, maintenance and control.
What deserves to be explained is, due to this signal processing circuit plate 50 is designed with a pair should the breach 51 of string holes 34, therefore, after this composite cable 91 places this string holes 34 distribution, as during for changing this signal processing circuit plate 50, keeping in repair, then by the design of this breach 51, making to produce with this composite cable 91 when separating this signal processing circuit plate 50 to interfere, having and separating effect easily.
Secondly, because this signal processing circuit plate 50 can be arranged at the rearward end 32 of this wrist body 30 with separating by this board 96 and be positioned at this holding part 33, therefore, this signal processing circuit plate 50 is changed, when keeping in repair, the rearward end 32 that directly the quick detach portion 691 of this board 96 can be detached in this wrist body 30 can take out this signal processing circuit plate 50, highlights replacing, keeps in repair this signal processing circuit plate 50 effect easily.
Finally, consult shown in Fig. 8, what signal of the present invention controlled make flowing mode and configuration instruction is as follows.
Described signal processing circuit plate 50 has the second connector module 56 and processing unit 57 that one first connector module 54, I/O module 55, signal that tandem signal transmission interface 53, signal connects this tandem signal transmission interface 53 connects this I/O module 55, wherein:
Described processing unit 57 is a microcontroller, is responsible for the coding/decoding function of serial transmission, the control command of output signal and the reading of input signal.
Described tandem signal transmission interface 53 be by this processing unit 57 the instruction transformation sending/receive be the form of serial transmission.
Described I/O module 55 comprises electric signal switch element (optical relay and photo-coupler), and wherein optical relay provides output and isolation features; Photo-coupler provides input and isolation features.
Described first connector module 54 is connectors of this tandem signal transmission interface 53.
Described second connector module 56 is connectors of this I/O module 55, and the signal of I/O module 55 is connected to connector 60 and the control unit 70 of this wrist body 30.
The output signal that described signal controls to do flowing mode produces flow process:
By controller 23, the tandem signal transmission interface 231 of output signal through inside for controlling is converted to tandem signal and is sent to this signal processing circuit plate 50 of this wrist body 30 inside, through the first connector module 54, tandem signal is sent to this tandem signal transmission interface 53 and delivers to processing unit 57 again, this processing unit 57 pairs of tandem signals are decoded, and decoded output signal instruction is sent to this I/O module 55, the output signal of isolation is produced by the optical relay in this I/O module 55, this output signal is sent to connector 60 on this wrist body 30 through this second connector module 56 and control unit 70 does corresponding control.
The input signal that described signal controls to do flowing mode receives flow process:
Input signal is inputted by the connector 60 on this wrist body 30, the second connector module 56 via this signal processing circuit plate 50 is sent to this I/O module 55, the input signal being produced isolation by the photo-coupler in this I/O module 55 delivers to this processing unit 57, after this processing unit 57 reads this input signal, after being encoded, tandem signal transmission interface 53 through this signal processing circuit plate 50 is sent in controller 23 through the first connector module 54, delivered to CPU (CPU) 232 after tandem signal transmission interface 231 in this controller 23 receives this signal to carry out decoding and reading input signal.
It is worth mentioning that, consult shown in Fig. 9, the rearward end 32 of this wrist body 30 is arm body 21 modes that can be located at robotic arm pivotally, it is mainly provided with a connection by this arm body 21 and drives the hollow type reductor 23 of this wrist body 30 rearward end 32 to reach, and this hollow type reductor 23 has one to be communicated with this string holes 34 and the hollow hole 231 placed for this composite cable 91.
In sum, the various embodiments described above and diagram are only preferred embodiment of the present invention, when can not with the scope of restriction the invention process, the equalization change namely generally done according to the present patent application the scope of the claims with modify, all should remain within the scope of the patent.
Claims (8)
1. a wrist structure for articulated robot arm, is characterized in that: comprise:
One wrist body, has a leading section, a rearward end, holding part and be located between this forward and backward end is located at this rearward end and makes this holding part and the extraneous string holes be connected;
One wrist is turned, and can be hubbed on the leading section of this wrist body with being controlled;
One signal processing circuit plate, can be arranged at the rearward end of this wrist body and be positioned at this holding part with separating, and there is a pair should the breach of string holes;
A connector, is located at this wrist body and links with this signal processing circuit plate signal;
One control unit, is located at the holding part of this wrist body, and links with this signal processing circuit plate signal;
One driver element, is located at the holding part of this wrist body, and controls this wrist and turn relative to this wrist body oscillatory.
2. the wrist structure of articulated robot arm as claimed in claim 1, it is characterized in that: described signal processing circuit plate has more a tandem signal transmission interface, the string holes of this wrist body is placed through in this holding part for a composite cable, and this composite cable comprises a signal and connects this tandem signal transmission interface and tandem signal cable in order to transmit tandem signal.
3. the wrist structure of articulated robot arm as claimed in claim 2, it is characterized in that: described signal processing circuit plate has more one first connector module, one second connector module, one I/O module, and a processing unit, this the first connector module is that signal connects between this tandem signal transmission interface and this tandem signal cable, this processing unit is delivered to again in order to tandem signal to be sent to this tandem signal transmission interface, this processing unit is decoded to tandem signal, this the second connector module signal connects this I/O module, and respectively with this control unit, between this connector, signal connects a control RCA, one connects RCA.
4. the wrist structure of articulated robot arm as claimed in claim 1, it is characterized in that: described signal processing circuit plate can be arranged at the rearward end of this wrist body by a board and be positioned at this holding part with separating, this board has a locking and connects this quick detach portion in the quick detach portion of this wrist body rearward end and one and be positioned at this wrist body holding part and year portion locked for this signal processing circuit plate.
5. the wrist structure of articulated robot arm as claimed in claim 1, it is characterized in that: described wrist is turned and had the second movable part that first movable part and being hubbed on this wrist body leading section is hubbed at this first movable part, this driver element has the second groups of motors that this first movable part of a control rotates relative to this first movable part relative to the first groups of motors and this second movable part of control of this wrist body oscillatory.
6. the wrist structure of articulated robot arm as claimed in claim 5, is characterized in that: described composite cable more comprises motor power cable and the motor signal cable that is electrically connected to this first and second groups of motors.
7. the wrist structure of articulated robot arm as claimed in claim 5, it is characterized in that: described first groups of motors comprises the first motor that one first reductor and one and this first reductor power link, this second groups of motors comprises the second motor that one second reductor and one and this second reductor power link.
8. the wrist structure of articulated robot arm as claimed in claim 1, it is characterized in that: the rearward end of described wrist body to be located at arm body on the other hand pivotally, this arm body is provided with the hollow type reductor that a connection drives this wrist body rearward end, and this hollow type reductor has one and is communicated with and the hollow hole placed for a composite cable with this string holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410474244.3A CN105479481B (en) | 2014-09-17 | 2014-09-17 | The wrist structure of articulated robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410474244.3A CN105479481B (en) | 2014-09-17 | 2014-09-17 | The wrist structure of articulated robot arm |
Publications (2)
| Publication Number | Publication Date |
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| CN105479481A true CN105479481A (en) | 2016-04-13 |
| CN105479481B CN105479481B (en) | 2017-12-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410474244.3A Active CN105479481B (en) | 2014-09-17 | 2014-09-17 | The wrist structure of articulated robot arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN105479481B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04141395A (en) * | 1990-10-01 | 1992-05-14 | Nachi Fujikoshi Corp | Industrial robot |
| JPH07124887A (en) * | 1993-10-29 | 1995-05-16 | Fanuc Ltd | Cable treating device for industrial robot |
| JP2009113188A (en) * | 2007-11-09 | 2009-05-28 | Toshiba Mach Co Ltd | Work robot |
| CN102101299A (en) * | 2009-12-18 | 2011-06-22 | 财团法人工业技术研究院 | Wrist joint structure of mechanical arm |
| CN102452080A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| EP2542391A1 (en) * | 2010-03-02 | 2013-01-09 | ABB Research Ltd. | A system for electrically connecting a tool to a robot wrist and a method therefor |
-
2014
- 2014-09-17 CN CN201410474244.3A patent/CN105479481B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04141395A (en) * | 1990-10-01 | 1992-05-14 | Nachi Fujikoshi Corp | Industrial robot |
| JPH07124887A (en) * | 1993-10-29 | 1995-05-16 | Fanuc Ltd | Cable treating device for industrial robot |
| JP2009113188A (en) * | 2007-11-09 | 2009-05-28 | Toshiba Mach Co Ltd | Work robot |
| CN102101299A (en) * | 2009-12-18 | 2011-06-22 | 财团法人工业技术研究院 | Wrist joint structure of mechanical arm |
| EP2542391A1 (en) * | 2010-03-02 | 2013-01-09 | ABB Research Ltd. | A system for electrically connecting a tool to a robot wrist and a method therefor |
| CN102452080A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
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| Publication number | Publication date |
|---|---|
| CN105479481B (en) | 2017-12-19 |
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