CN106078794A - The hollow wrist structure of industrial robot - Google Patents
The hollow wrist structure of industrial robot Download PDFInfo
- Publication number
- CN106078794A CN106078794A CN201610507606.3A CN201610507606A CN106078794A CN 106078794 A CN106078794 A CN 106078794A CN 201610507606 A CN201610507606 A CN 201610507606A CN 106078794 A CN106078794 A CN 106078794A
- Authority
- CN
- China
- Prior art keywords
- hollow
- wrist
- belt wheel
- reductor
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the hollow wrist structure of a kind of industrial robot, the wrist shell being rotationally connected including forearm and forearm free end; be provided with to the motor I and motor II being misplaced installation in forearm; the output shaft of motor I connects the motion structure I driving wrist shell to move up and down; the output shaft of motor II connects the motion II driving wrist shell to rotate; the end flange of motion II is hollow; and the internally installed central canal of hollow RV reductor, hollow pipe is connected with the interior hollow section of end flange.The present invention is hollow structure wrist, can facilitate passing through of robot end's cable, uses Bevel Gear Transmission, rational in infrastructure is reliably provided with oil sealing, prevents lubricating oil from oozing out.
Description
Technical field
The present invention relates to the wrist structure of a kind of industrial robot, the hollow wrist knot of a kind of industrial robot
Structure, it is adaptable to industrial robot spot welding.
Background technology
In general industrial machine human wrist structure, hollow structure is less, and cable passes outside robot wrist,
Make cable wiring chaotic, affect the rotation space in joint.
Summary of the invention
For the defect of prior art, the present invention discloses the hollow wrist structure of a kind of industrial robot, uses bevel gear
Transmission, hollow structure, conveniently wear cable, rational in infrastructure reliably.
In order to solve described technical problem, the technical solution used in the present invention is: the hollow wrist structure of industrial robot,
The wrist shell being rotationally connected including forearm and forearm free end, is provided with to being misplaced the motor I and motor II of installation, electricity in forearm
The output shaft of machine I connects has the output shaft connection of the motion structure I, motor II that drive wrist shell to move up and down to have drive wrist shell to rotate
Motion II, described motion I include belt wheel I, belt wheel II, Timing Belt I and dual-gripper RV reductor, belt wheel I installs
On the output shaft of motor I, belt wheel II is arranged on the power shaft of dual-gripper RV reductor, passes through between belt wheel I and belt wheel II
Timing Belt I transmission, the output shaft of dual-gripper RV reductor is fixed on wrist shell；Described motion II includes belt wheel IV, belt wheel
V, Timing Belt II and little axle, belt wheel IV is arranged on the output shaft of motor II, and belt wheel V is arranged on little axle, belt wheel IV and band
By Timing Belt II transmission between wheel V, little axle is fixed on forearm by rolling bearing units, and the little axle other end is provided with auger
Gear, bevel gear wheel is meshed with the bevel pinion being arranged in wrist shell, and bevel pinion is positioned at one end of power transmission shaft, power transmission shaft
The other end is fixed with spur gear, and spur gear is meshed with hollow gear wheel, and hollow gear wheel is the input tooth of hollow RV reductor
Wheel, hollow RV reductor is arranged on wrist shell, and the output shaft of hollow RV reductor installs an end flange, during this end flange is
Empty, the center of hollow RV reductor is provided with a hollow pipe, and hollow pipe is connected with the interior hollow section of end flange.
The hollow wrist structure of industrial robot of the present invention, is connected between described belt wheel II with dual-gripper RV reductor
There is deceleration cover, between deceleration cover and belt wheel II, have oil sealing.
The hollow wrist structure of industrial robot of the present invention, is provided with big bearing block in forearm, little axle passes through two axles
Hold, little set is arranged in big bearing block.
The hollow wrist structure of industrial robot of the present invention, is provided with oil seal seat, is provided with in oil seal seat in big bearing block
Oil sealing.
The hollow wrist structure of industrial robot of the present invention, is provided with small bearing bracket in wrist shell, bevel pinion is by little
Bearing block is fixed in wrist shell.
The hollow wrist structure of industrial robot of the present invention, one end of central canal supports an oil sealing.
Beneficial effects of the present invention: the present invention is hollow structure wrist, can facilitate passing through of robot end's cable, adopt
By Bevel Gear Transmission, rational in infrastructure reliably it is provided with oil sealing, prevents lubricating oil from oozing out.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the internal structure schematic diagram of the present invention；
Fig. 3 is the sectional view of the present invention；
In figure: 1, Timing Belt I, 2, belt wheel I, 3, motor I, 4, motor II, 5, belt wheel IV, 6, Timing Belt II, 7, hollow gear wheel,
8, spur gear, 9, power transmission shaft, 10, side cover I, 11, big bearing block, 12, little axle, 13, belt wheel V, 14, oil seal seat, 15, little set,
16, bevel gear wheel, 17, forearm, 18, small bearing bracket, 19, bevel pinion, 20, cover plate, 21, deceleration cover, 22, dual-gripper RV subtracts
Speed machine, 23, side cover II, 24, belt wheel II, 25, wrist shell, 26, connector, 27, hollow RV reductor, 28, end send out orchid, 29, in
Heart pipe.
Detailed description of the invention
The present invention will be further described and limits with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, the hollow wrist structure of a kind of industrial robot, turn with forearm 17 free end including forearm 17
The wrist shell 25 being dynamically connected, is provided with in forearm to being misplaced the motor I3 and motor II4 of installation, and the output shaft of motor I3 connects band
Dynamic wrist shell moves up and down thus realizes the motion structure I of robot wrist's oscillating function, and the output shaft of motor II4 connects drive
Wrist shell rotates thus realizes the motion II of robot wrist's spinfunction, and motion structure I lays respectively at motion II
The both sides of forearm.
As shown in Figure 2,3, in the present embodiment, described motion I includes belt wheel I2, belt wheel II24, Timing Belt I1 and double
Supporting RV reductor 22, belt wheel I2 is arranged on the output shaft of motor I3, and belt wheel II24 is arranged on dual-gripper RV reductor 22
On power shaft, by Timing Belt I1 transmission between belt wheel I2 and belt wheel II24, the output shaft of dual-gripper RV reductor 22 is fixed on
On wrist shell 25.When motor I3 rotates, by the transmission of Timing Belt I1 Yu dual-gripper RV reductor 22, wrist shell about 25 can be driven
Motion, thus realize the oscillating function of robot wrist.Wherein, it is connected to have between belt wheel II24 with dual-gripper RV reductor 22 and subtracts
Speed cover 21, is provided with oil sealing between deceleration cover 21 and belt wheel II24, the effect of deceleration cover 21 is that storage dual-gripper RV slows down
Lubricating oil in machine 22, and prevent lubricating oil from overflowing.
In the present embodiment, described motion II includes belt wheel IV 5, belt wheel V 13, Timing Belt II6 and little axle 12, band
Wheel IV5 is arranged on the output shaft of motor II4, and belt wheel V13 is arranged on little axle 12, passes through between belt wheel IV 5 and belt wheel V 13
Timing Belt II6 transmission, little axle 12 is fixed on forearm 17 by rolling bearing units, and little axle 12 other end is provided with bevel gear wheel
16, bevel gear wheel 16 is meshed with the bevel pinion 19 being arranged in wrist shell 25, and bevel pinion 19 is positioned at one end of power transmission shaft 9,
The other end of power transmission shaft 9 connects has spur gear 8, spur gear 8 to be meshed with hollow gear wheel 7, and hollow gear wheel 7 subtracts for hollow RV
The input gear of speed machine 27, hollow RV reductor 27 is arranged on wrist shell 25 end, and the output shaft of hollow RV reductor 27 installs one
End flange 28, this end flange 28 is hollow, and the center of hollow RV reductor 27 is provided with a hollow pipe 29, hollow pipe 29 with
The interior hollow section of end flange 28 is connected.An oil sealing is installed in one end of central canal 29, in preventing hollow RV reductor 27
Lubricating oil overflow.
In the present embodiment, being provided with big bearing block 11 in forearm 17, big bearing block 11 is fixed on forearm 17, and little axle 12 passes through
Two bearings, little sets 15 are arranged in big bearing block 11 with oil seal seat 14, are provided with oil sealing, in preventing gear cavity in big bearing block 11
Lubricating oil overflow.
In the present embodiment, in wrist shell 25, be provided with small bearing bracket 18, small bearing bracket 18 be fixed by screws in wrist shell 25 and
On cover plate 20, bevel pinion 19 is arranged in small bearing bracket 18 by the pair of bearings of small bearing bracket 18.Power transmission shaft 9 one end is passed through
Small bearing bracket 18 and the pair of bearings in small bearing bracket 18, the other end is arranged in wrist shell 25 by bearing, back-up ring.
When motor II4 rotates, little axle 12 is driven to rotate by Timing Belt II6 transmission.Little axle 12 rotates, by big conelet
Gear drive, drives power transmission shaft 9 to rotate.Power transmission shaft 9 rotates, and through the transmission of spur gear 8 with hollow gear wheel 7, drives hollow
RV reductor 27 rotates, so that end flange 28 rotates.This transmission is complex, is first Timing Belt II6 transmission, next to that
Bevel Gear Transmission, is spur gear 8 transmission again, is finally hollow RV reductor 27 transmission.Wherein Timing Belt II6 can be by electricity
Installation between machine II4 and forearm 17 carrys out tensioning, and Bevel Gear Transmission gap can be by the pad between bevel pinion 19 and power transmission shaft 9
Sheet adjusts.The bad adjustment of spur gear 8 drive gap, but can be ensured by machining.When motor II4 rotates, can
To realize the spinfunction of robot wrist.
The configuration of wrist shell of the present invention can facilitate passing through of robot wrist's latter end cable with this drive mechanism.
The embodiment above of the present invention, is merely illustrative, and is not only, all within the scope of the present invention or equivalent this
Change in the scope of the present invention is all surrounded by the present invention.
Claims (6)
1. the hollow wrist structure of industrial robot, it is characterised in that: include the wrist that forearm is rotationally connected with forearm free end
Shell, is provided with in forearm to being misplaced the motor I and motor II of installation, and the output shaft of motor I connects has drive wrist shell to move up and down
Motion structure I, motor II output shaft connect have drive wrist shell rotate motion II, described motion I include band
Wheel I, belt wheel II, Timing Belt I and dual-gripper RV reductor, belt wheel I is arranged on the output shaft of motor I, and belt wheel II is arranged on double
Support on the power shaft of RV reductor, by Timing Belt I transmission between belt wheel I and belt wheel II, the output of dual-gripper RV reductor
Axle is fixed on wrist shell；Described motion II includes belt wheel IV, belt wheel V, Timing Belt II and little axle, and belt wheel IV is arranged on
On the output shaft of motor II, belt wheel V is arranged on little axle, and by Timing Belt II transmission between belt wheel IV and belt wheel V, little axle leads to
Crossing rolling bearing units to be fixed on forearm, the little axle other end is provided with bevel gear wheel, and bevel gear wheel is little be arranged in wrist shell
Bevel gear is meshed, and bevel pinion is positioned at one end of power transmission shaft, and the other end of power transmission shaft is fixed with spur gear, spur gear and hollow
Gear wheel is meshed, and hollow gear wheel is the input gear of hollow RV reductor, and hollow RV reductor is arranged on wrist shell, hollow
The output shaft of RV reductor installs an end flange, and this end flange is hollow, and the center of hollow RV reductor is provided with in one
Blank pipe, hollow pipe is connected with the interior hollow section of end flange.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: described belt wheel II props up with double
Connect between support RV reductor and have deceleration cover, between deceleration cover and belt wheel II, have oil sealing.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: it is provided with big bearing in forearm
Seat, little axle is arranged in big bearing block by two bearings, little set.
The hollow wrist structure of industrial robot the most according to claim 3, it is characterised in that: it is provided with oil in big bearing block
Envelope seat, is provided with oil sealing in oil seal seat.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: it is provided with little bearing in wrist shell
Seat, bevel pinion is fixed in wrist shell by small bearing bracket.
The hollow wrist structure of industrial robot the most according to claim 1, it is characterised in that: one end of central canal supports
There is oil sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507606.3A CN106078794A (en) | 2016-07-01 | 2016-07-01 | The hollow wrist structure of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507606.3A CN106078794A (en) | 2016-07-01 | 2016-07-01 | The hollow wrist structure of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078794A true CN106078794A (en) | 2016-11-09 |
Family
ID=57215369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610507606.3A Pending CN106078794A (en) | 2016-07-01 | 2016-07-01 | The hollow wrist structure of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078794A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312175A (en) * | 2018-01-10 | 2018-07-24 | 杭州娃哈哈精密机械有限公司 | A kind of wrist joint and its method of operating of mechanical arm |
| CN109623869A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm |
| CN109866250A (en) * | 2019-03-01 | 2019-06-11 | 达闼科技（北京）有限公司 | Robot wrist structure and robot |
| CN110587657A (en) * | 2019-09-17 | 2019-12-20 | 天津大学 | High-precision three-degree-of-freedom hollow wrist mechanism |
| CN113910291A (en) * | 2021-12-14 | 2022-01-11 | 沈阳新松机器人自动化股份有限公司 | Robot terminal hollow joint structure |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202029133U (en) * | 2011-04-15 | 2011-11-09 | 成都佳士科技有限公司 | Pivoted arm structure of robot |
| US20150059511A1 (en) * | 2012-04-20 | 2015-03-05 | Mitsubishi Electric Corporation | Robot joint structure |
| CN204278034U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle lightweight robotic wrists |
| CN205111875U (en) * | 2015-11-11 | 2016-03-30 | 欢颜自动化设备（上海）有限公司 | Terminal structure of industrial six axis robot |
| CN205129889U (en) * | 2015-07-30 | 2016-04-06 | 北京中电华强焊接工程技术有限公司 | Novel welding robot's wrist drive mechanism |
| US20160114491A1 (en) * | 2014-09-25 | 2016-04-28 | Hiwin Technologies Corp. | Wrist structure for an articulated robotic arm |
| CN205735006U (en) * | 2016-07-01 | 2016-11-30 | 济南时代试金试验机有限公司 | The hollow wrist structure of industrial robot |
-
2016
- 2016-07-01 CN CN201610507606.3A patent/CN106078794A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202029133U (en) * | 2011-04-15 | 2011-11-09 | 成都佳士科技有限公司 | Pivoted arm structure of robot |
| US20150059511A1 (en) * | 2012-04-20 | 2015-03-05 | Mitsubishi Electric Corporation | Robot joint structure |
| US20160114491A1 (en) * | 2014-09-25 | 2016-04-28 | Hiwin Technologies Corp. | Wrist structure for an articulated robotic arm |
| CN204278034U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle lightweight robotic wrists |
| CN205129889U (en) * | 2015-07-30 | 2016-04-06 | 北京中电华强焊接工程技术有限公司 | Novel welding robot's wrist drive mechanism |
| CN205111875U (en) * | 2015-11-11 | 2016-03-30 | 欢颜自动化设备（上海）有限公司 | Terminal structure of industrial six axis robot |
| CN205735006U (en) * | 2016-07-01 | 2016-11-30 | 济南时代试金试验机有限公司 | The hollow wrist structure of industrial robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312175A (en) * | 2018-01-10 | 2018-07-24 | 杭州娃哈哈精密机械有限公司 | A kind of wrist joint and its method of operating of mechanical arm |
| CN109623869A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm |
| CN109866250A (en) * | 2019-03-01 | 2019-06-11 | 达闼科技（北京）有限公司 | Robot wrist structure and robot |
| CN109866250B (en) * | 2019-03-01 | 2021-08-13 | 达闼科技（北京）有限公司 | Robot wrist structure and robot |
| US11541555B2 (en) | 2019-03-01 | 2023-01-03 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot wrist structure and robot |
| CN110587657A (en) * | 2019-09-17 | 2019-12-20 | 天津大学 | High-precision three-degree-of-freedom hollow wrist mechanism |
| CN113910291A (en) * | 2021-12-14 | 2022-01-11 | 沈阳新松机器人自动化股份有限公司 | Robot terminal hollow joint structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106078794A (en) | The hollow wrist structure of industrial robot | |
| CN205735006U (en) | The hollow wrist structure of industrial robot | |
| CN202833878U (en) | Robot recreational vehicle (RV) speed reducer | |
| CN103406704A (en) | Shifter structure | |
| CN103542040A (en) | Rectangular axis planetary reducer | |
| CN205101472U (en) | Tertiary reduction gear of electric motor car | |
| CN203887203U (en) | Ladler | |
| CN204726149U (en) | A kind of steering wheel device of adjustable cushion effect | |
| CN201090678Y (en) | Traveling wheel gearing device with brake | |
| CN206500832U (en) | A kind of automatic welding platform | |
| CN102529710A (en) | Double-motor input wheel-side speed reducer for electric bus | |
| CN204628460U (en) | A kind of worm and gear auxiliary driving swing mechanism | |
| CN203463564U (en) | Stepless planetary reducer | |
| CN202726933U (en) | Wrist transmission structure of manipulator | |
| CN202985576U (en) | Drive joint of robot second arm | |
| CN110125974A (en) | A kind of single-motor double speed reducer robot joint structure | |
| CN104964004A (en) | Industrial robot RV speed reducer | |
| CN105643575A (en) | Rotary table | |
| CN106734526B (en) | A kind of high performance punching arc making equipment | |
| CN203230794U (en) | Gapless worm and gear speed reducer for industrial pipe mechanical device | |
| CN203021761U (en) | Transmission structure between upper shaft and lower shaft of computerized flat-seam knot tying machine | |
| CN206326620U (en) | Unit combined robot wrist | |
| CN203770535U (en) | Rotation driving device of spiral bevel gear | |
| CN203035848U (en) | Full-automatic numerical control universal bending machine transmission mechanism | |
| CN207724338U (en) | A kind of horizontal mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |