CN105881584A

CN105881584A - Robot wrist mechanism

Info

Publication number: CN105881584A
Application number: CN201610409397.9A
Authority: CN
Inventors: 付淑珍
Original assignee: Foshan Lianzhi Xinchuang Technology Co Ltd
Current assignee: Beijing Guodian Ruiyuan Technology Development Co., Ltd
Priority date: 2016-06-08
Filing date: 2016-06-08
Publication date: 2016-08-24
Anticipated expiration: 2036-06-08
Also published as: CN105881584B

Abstract

The invention discloses a robot wrist mechanism which comprises an arm, a swing arm and a rotating hand, wherein the swing arm is pivoted to the front end of the arm; the rotating hand is fixed on a rotating disc at the front end of the swing arm; the rotating hand comprises a telescopic mechanism and a space swinging mechanism; the space swinging mechanism is fixed at the front end of the telescopic mechanism; the telescopic mechanism comprises a telescopic supporting base and a base; the space swinging mechanism comprises a peripheral fixing base and an inner rotating base; a sphere is movably mounted on the side wall of the inner rotating base; a plurality of connecting rods are arranged between the bottom of the sphere and the inner side wall of the inner rotating base; the actuating tail end of the rotating hand is mounted on the sphere. According to the robot wrist mechanism disclosed by the invention, the actuating tail end of the rotating hand can optionally swing by virtue of rotation of the sphere around the center of the sphere and combined actions of the connecting rods of the rotating base, so that the wrist of the robot is flexible to operate, and various complicated process requirements can be met.

Description

A kind of Wrist mechanism of robot

Technical field

The present invention relates to robotics, be specifically related to the Wrist mechanism of a kind of robot.

Background technology

The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six Axle all-purpose robot, wherein, the vitals of wrist Ti Shi robot, it has arm, The front end of arm connects swing arm, is also associated with in swing arm front end rotating hands, arranges swing The wrist body operating that arm and rotation hands are provided to robot is more flexible, adapts to various complexity Technological requirement.

Although the combination of above-mentioned light-duty six axle all-purpose robot swing arms and rotation hands can make machine The wrist body operating of device people is more flexible, but, the wrist of above-mentioned light-duty six axle all-purpose robots Body but arbitrarily can not swing in space as the wrist of natural person.

Summary of the invention

The present invention is directed to above-mentioned technical problem, it is provided that a kind of hands making light-duty six axle all-purpose robots The Wrist mechanism of the robot that wrist physical ability arbitrarily swings in space as the wrist of natural person.

For reaching above-mentioned purpose, the invention provides the Wrist mechanism of a kind of robot, including hands Arm, it is articulated in the swing arm of arm front end, the first driver element driving swing arm to swing, solid The second driving rotating hands and driving rotating disk rotation being scheduled in the rotating disk of swing arm front end is single Unit；Central axis when described swing arm swings is in the rotation centerline of rotating disk；Rotate hands Including telescoping mechanism and space swing mechanism；Telescoping mechanism is fixed in the rotating disk of swing arm； Space swing mechanism is fixed on the front end of telescoping mechanism；Space swing mechanism includes peripheral fixing Seat, internal rotating seat and plane rotating mechanism；Peripheral fixing seat is that inside offers cylindrical hole Cylinder；Peripheral fixing seat inner lower wall center is fixed with the first electricity arranged straight up Machine；Internal rotating seat is the cylinder that upper surface offers installing hole；Internal rotating seat rotates sliding Row is arranged in peripheral fixing installing hole within seat；The upper surface of internal rotating seat forms ring Shape guide rail；Internal rotating seat is arranged within peripheral fixing seat by ring-shaped guide rail rotational slide On upper side wall；Center, internal rotating seat lower surface is fixed on the output shaft of the first motor；Plane Rotating mechanism includes that spheroid, center connect seat, first connecting rod, the first rocking arm and the second motor； Spheroid is movably embedded in peripheral fixing seat upper side wall center；Center connects seat top and is articulated in spheroid Bottom, lower hinge are in first connecting rod one end；Second motor is horizontally fixed on internal rotating seat On medial wall；First one end is fixed on the output shaft of the second motor, the other end is hinged on One end of first connecting rod；One end of first connecting rod is hinged on center and connects the bottom of seat, the other end It is hinged on one end of the first rocking arm；Rotate hands execution end to be arranged on spheroid.

Preferred as technique scheme, telescoping mechanism includes retractable support seat, base, spiral shell Rasp bar, screw rod and the 3rd motor；Base includes base plate and some first support bars；First supports Bar one end is fixed on the peripheral fixing bottom surface of seat, the other end is fixed on base plate；Base plate offers Some circular holes and screwed hole of centre；Retractable support seat includes gripper shoe and some second support bars； Second support bar one end is plugged in the circular hole of base plate, the other end is fixing on the supporting plate；Support Plate center is fixed with bearing；Threaded rod upper end is screwed onto in the screwed hole of centre of base plate, lower end is inserted It is located in bearing；Threaded rod bottom is fixed with worm gear；Screw rod is articulated in a pair and is fixed on gripper shoe On the 3rd gripper shoe on；Spiral shell worm and wheel engages；Screw rod is fixed on the output shaft of the 3rd motor. Preferred as technique scheme, described first driver element includes be arranged on arm Four motors, connection the 4th motor and the first gear unit of swing arm；Described first gear unit Including the second gear being articulated on arm and being coaxially disposed and the 3rd gear, it is articulated on arm And it is the 4th gear that is coaxially disposed and the first synchronous pulley, the 3rd axle being articulated on arm, solid Dingan County is contained in the second synchronous pulley on the 3rd axle；It is provided with on the output shaft of described 4th motor First gear, the first gear and the engagement of the second gear, the 3rd gear and the engagement of the 4th gear, the One synchronous pulley is coupled by Timing Belt and the second synchronous pulley, and the 3rd axle is fixing with swing arm even Connect.

Preferred as technique scheme, a spill gap, institute are offered in the front end of described arm State swing arm to be articulated in spill gap.

Preferred as technique scheme, ring-shaped guide rail cross section is T-shaped.

The beneficial effects of the present invention is: rotated and the connection rod set of rotating seat around the centre of sphere by spheroid Conjunction action can make rotation hands perform any swing of end, makes the wrist body of robot operate more Add flexibly, adapt to the technological requirement of various complexity.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention；

Fig. 2 is the left view rotating hands of the present invention；

Fig. 3 is the right view rotating hands of the present invention；

Fig. 4 be the present invention Fig. 2 in the cross-sectional view of A-A；

Fig. 5 be the present invention Fig. 2 in the cross-sectional view of B-B；

Fig. 6 be the present invention Fig. 2 in the cross-sectional view of C-C；

Fig. 7 be the present invention Fig. 2 in the cross-sectional view of D-D；

Fig. 8 be the present invention Fig. 3 in the cross-sectional view of E-E；

In figure, 10, space swing mechanism；11, peripheral fixing seat；12, the first motor；13、 Internal rotating seat；131, ring-shaped guide rail；14, plane rotating mechanism；141, spheroid；142、 Center connects seat；143, first connecting rod；144, the first rocking arm；145, the second motor；20、 Telescoping mechanism；21, base；211, the first support bar；212, base plate；22, retractable support Seat；221, the second support bar；222, gripper shoe；23, threaded rod；24, worm gear；25、 Screw rod；251, the 3rd gripper shoe；26, the 3rd motor；30, arm；31, the first gear； 32, the second gear；34, the 4th gear；35, the first synchronous pulley；36, the 3rd axle；37、 Second synchronous pulley；38, Timing Belt；40, swing arm；41, rotating disk.

Detailed description of the invention

As shown in Fig. 1～Fig. 5, Fig. 8, the Wrist mechanism of a kind of robot, including arm 30, The swing arm 40 being articulated in arm 30 front end, the first driving list driving swing arm 40 to swing Unit, the rotation hands being fixed in swing arm 40 front end rotating disk 41 and driving rotating disk 41 are revolved The second driver element turned；Central axis when described swing arm 40 swings is in rotating disk 41 Rotation centerline；Rotate hands and include telescoping mechanism 20 and space swing mechanism 10；Telescopic machine Structure 20 is fixed in the rotating disk 41 of swing arm 40；Space swing mechanism 10 is fixed on flexible The front end of mechanism 20；Space swing mechanism 10 includes peripheral fixing seat 11, internal rotating seat 13 and plane rotating mechanism 14；Peripheral fixing seat 11 is the internal cylinder offering cylindrical hole； Peripheral fixing seat 11 inner lower wall center is fixed with the first motor 12 arranged straight up； Internal rotating seat 13 offers the cylinder of installing hole for upper surface；Internal rotating seat 13 rotates Slide and be arranged in peripheral fixing installing hole within seat 11；The upper surface of internal rotating seat 13 Form ring-shaped guide rail 131；Internal rotating seat 13 is set by ring-shaped guide rail 131 rotational slide Put and fix on the upper side wall within seat 11 in periphery；Center, internal rotating seat 13 lower surface is fixed On the output shaft of the first motor 12；Plane rotating mechanism 14 includes spheroid 141, center even Joint chair 142, first connecting rod the 143, first rocking arm 144 and the second motor 145；Spheroid 141 It is movably embedded in peripheral fixing seat 11 upper side wall center；Center connects seat 142 top and is articulated in Bottom spheroid 141, lower hinge is in first connecting rod 143 one end；Second motor 145 level is solid It is scheduled on the medial wall of internal rotating seat 13；First rocking arm 144 one end is fixed on the second motor On the output shaft of 145, the other end be hinged on one end of first connecting rod 143；First connecting rod 143 One end be hinged on center and connect the bottom of seat 142, the other end and be hinged on the first rocking arm 144 One end；Rotate hands execution end to be arranged on spheroid.

As shown in Fig. 2～Fig. 4, Fig. 8, telescoping mechanism 20 includes retractable support seat 22, base 21, threaded rod 23, screw rod 25 and the 3rd motor 26；If base 21 include base plate 212 and Dry first support bar 211；First support bar 211 one end is fixed on the end of peripheral fixing seat 11 Face, the other end are fixed on base plate 212；Base plate 212 offers some circular holes and center screw thread Hole；Retractable support seat 22 includes gripper shoe 222 and some second support bars 221；Second Strut 221 one end is plugged in the circular hole of base plate 212, the other end is fixed in gripper shoe 222； Gripper shoe 222 center is fixed with bearing；Threaded rod 23 upper end is screwed onto the center of base plate 212 Screwed hole is interior, lower end is plugged in bearing；Threaded rod 23 bottom is fixed with worm gear 24；Screw rod 25 are articulated in a pair in the 3rd gripper shoe 251 being fixed in gripper shoe 222；Screw rod 25 with Worm gear 24 engages；Screw rod 25 is fixed on the output shaft of the 3rd motor 26.

As it is shown in figure 1, described first driver element includes the 4th electricity being arranged on arm 30 Machine, connection the 4th motor and the first gear unit of swing arm 40；Described first gear unit Including the second gear 32 being articulated on arm 30 and being coaxially disposed and the 3rd gear, it is articulated in On arm 30 and be coaxially disposed the 4th gear 34 and the first synchronous pulley 35, be articulated in hands The 3rd axle 36 on arm 30, the second synchronous pulley 37 being fixedly mounted on the 3rd axle 36； First gear 31, the first gear 31 and the second tooth are installed on the output shaft of described 4th motor Wheel 32 engages, and the 3rd gear and the 4th gear 34 engage, and the first synchronous pulley 35 is by same Step band 38 couples with the second synchronous pulley 37, and the 3rd axle 36 is fixing with swing arm 40 to be connected.

As it is shown in figure 1, a spill gap, described swing arm are offered in the front end of described arm 30 40 are articulated in spill gap.

As shown in Fig. 4, Fig. 8, ring-shaped guide rail 131 cross section is T-shaped.

Concrete operations are as follows: telescoping mechanism 20: the three motor 26 drives worm screw 24 to rotate, Worm screw 24 drives threaded rod 23 to rotate by worm gear 24；Due to depositing of the second support bar 221 , threaded rod 23 can only drive space swing mechanism 10 to move up and down.

Space swing mechanism 10: drive internal rotating seat 13 to rotate by the first motor 12； Second motor 145 drives the first rocking arm 144 to rotate, and the first rocking arm 144 passes through first connecting rod 143 drive spheroid 141 to do planar rotational movement around spheroid 141 centre of sphere；Internal rotating seat 13 Spinning movement and spheroid 141 around its centre of sphere Plane Rotation combine, can complete in space appoint Motion in meaning plane.

At the first driver element, the second driver element, space swing mechanism 10, telescoping mechanism Under the cooperating of 20, rotating hands execution end can appoint in space as the wrist of natural person Meaning swings.

Above content is only the better embodiment of the present invention, for the ordinary skill people of this area Member, according to the thought of the present invention, the most all can change it Place, this specification content should not be construed as limitation of the present invention.

Claims

1. a Wrist mechanism for robot, including arm (30), is articulated in arm (30) The swing arm (40) of front end, drive the first driver element that swing arm (40) swings, fixing Rotation hands on swing arm (40) front end rotating disk (41) and driving rotating disk (41) rotation The second driver element turned；Central axis when described swing arm (40) swings is in rotating disk (41) rotation centerline；Rotate hands and include telescoping mechanism (20) and space swing mechanism (10)； Telescoping mechanism (20) is fixed in the rotating disk (41) of swing arm (40)；Space oscillating machine Structure (10) is fixed on the front end of telescoping mechanism (20)；It is characterized in that: space swing mechanism (10) peripheral fixing seat (11), internal rotating seat (13) and plane rotating mechanism (14) are included； Peripheral fixing seat (11) is the internal cylinder offering cylindrical hole；Peripheral fixing seat (11) Inner lower wall center is fixed with the first motor (12) arranged straight up；Internal rotating seat (13) it is the upper surface cylinder that offers installing hole；Internal rotating seat (13) rotary sliding It is arranged in the installing hole that peripheral fixing seat (11) is internal；The upper end of internal rotating seat (13) Face forms ring-shaped guide rail (131)；Internal rotating seat (13) passes through ring-shaped guide rail (131) Rotational slide is arranged on the upper side wall that peripheral fixing seat (11) is internal；Internal rotating seat (13) Center, lower surface is fixed on the output shaft of the first motor (12)；Plane rotating mechanism (14) Seat (142), first connecting rod (143), the first rocking arm (144) is connected including spheroid (141), center With the second motor (145)；Spheroid (141) is movably embedded in peripheral fixing seat (11) upside Wall center；Center connects seat (142) top and is articulated in spheroid (141) bottom, lower hinge In first connecting rod (143) one end；Second motor (145) is horizontally fixed on internal rotating seat (13) Medial wall on；First rocking arm (144) one end is fixed on the output shaft of the second motor (145) One end upper, that the other end is hinged on first connecting rod (143)；One end of first connecting rod (143) The center that is hinged on connects the bottom of seat (142), the other end is hinged on the first rocking arm (144) One end；Rotate hands execution end to be arranged on spheroid.

The Wrist mechanism of a kind of robot the most according to claim 1, it is characterised in that: Telescoping mechanism (20) include retractable support seat (22), base (21), threaded rod (23), Screw rod (25) and the 3rd motor (26)；Base (21) includes base plate (212) and some One support bar (211)；First support bar (211) one end is fixed on peripheral fixing seat (11) Bottom surface, the other end is fixed on base plate (212)；Base plate (212) offers some circular holes And screwed hole of centre；Retractable support seat (22) includes gripper shoe (222) and some second Strut (221)；Second support bar (221) one end is plugged in the circular hole of base plate (212), The other end is fixed in gripper shoe (222)；Gripper shoe (222) center is fixed with bearing；Spiral shell Rasp bar (23) upper end is screwed onto in the screwed hole of centre of base plate (212), lower end is plugged in axle In holding；Threaded rod (23) bottom is fixed with worm gear (24)；Screw rod (25) is articulated in a pair It is fixed in the 3rd gripper shoe (251) in gripper shoe (222)；Screw rod (25) and worm gear (24) engagement；Screw rod (25) is fixed on the output shaft of the 3rd motor (26).

The Wrist mechanism of a kind of robot the most according to claim 1, it is characterised in that: Described first driver element includes the 4th motor being arranged on arm (30), couples the 4th electricity Machine and the first gear unit of swing arm (40)；Described first gear unit includes being articulated in hands Arm (30) upper and be coaxially disposed the second gear (32) and the 3rd gear, be articulated in arm (30) Upper and be coaxially disposed the 4th gear (34) and the first synchronous pulley (35), be articulated in arm (30) the 3rd axle (36) on, the second Timing Belt being fixedly mounted on the 3rd axle (36) Wheel (37)；First gear (31), the first gear are installed on the output shaft of described 4th motor (31) engage with the second gear (32), the 3rd gear and the engagement of the 4th gear (34), the One synchronous pulley (35) is coupled with the second synchronous pulley (37) by Timing Belt (38), the Three axles (36) are fixing with swing arm (40) to be connected.

The Wrist mechanism of a kind of robot the most according to claim 1, it is characterised in that: A spill gap is offered in the front end of described arm (10), and described swing arm (20) is articulated in recessed In shape gap.

The Wrist mechanism of a kind of robot the most according to claim 1, it is characterised in that: Ring-shaped guide rail (131) cross section is T-shaped.